Siemens Medical Solutions, Forchheim, (2009)
F. Maier, A. Wimmer, G. Soza, J. N. Kaftan, D. Fritz, R. Dillmann, ...
Abstract. In this paper we present a new method for fully automatic liver segmentation in computed tomography images. First, an initial set of seed points for the random walker algorithm is created....
Utilizing Spatial Relations for Natural Language Access to an Autonomous Mobile Robot? (2009)
Künstliche Intelligenz, Wissensbasierte Systeme, Leitung Prof, Dr. W. Wahlster, Gerd Herzog, ...
Natural language, a primary communication medium for humans, facilitates better human-machine interaction and could be an efficient means to use intelligent robots in a more flexible manner. In this...
Kühnle, J., Verl, A., Xue, Z., Rühl, S., Zöllner, J.M., Dillmann, R., ...
The main goal of mobile service robots is to assist human beings in everyday life. Instead of limiting treatment to just artificial, structured lab areas, such systems must in particular be able to...
Exploration and Planning in a Three-Level Cognitive Architecture (2008)
D. Kraft, M. Popović, A. M. Batog, A. Kjær-nielsen, N. Krüger, T. Asfour, ...
Abstract — We describe an embodied cognitive system based on a three-level architecture that includes a sensorimotor layer, a mid-level layer that stores and reasons about object-action action...
Modeling of the Expected Performance for the German AsteroidFinder Mission (2008)
Drentschew, M., Hahn, G.J., Kührt, E., Mottola, S., Dillmann, R.
The German Aerospace Center (DLR) has selected the ASTEROIDFINDER (AF) experiment to be flown as the first of a new series of national compact satellite missions. The main goal of the mission is to...
Haptic Exploration for 3D Shape Reconstruction using Five-Finger Hands (2008)
A. Bierbaum, K. Welke, D. Burger, T. Asfour, R. Dillmann
Abstract—In order for humanoid robots to enter humancentered environments, it is indispensable to equip them with the ability to recognize and classify objects in such an environment. A promising...
A. Morales, P. Azad, T. Asfour, D. Kraft, S. Knoop, R. Dillmann, ...
In this paper we present a framework for grasp planning with a humanoid robot arm and a five-fingered hand. The aim is to provide the humanoid robot with the ability of grasping objects that appear...
Universal Controller Module (UCoM)- component of a modular concept in robotic systems (2008)
K. Regenstein, T. Kerscher, C. Birkenhofer, T. Asfour, M. Zöllner, R. Dillmann
Abstract — At our institute we built a variety of robots. As these robots are quite different as well in size, shape and in actuation principle it would be very time consuming and inefficient to...
Integrating Simulation Framework MEDIFRAME (2008)
S. Seifert, R. Kussaether, W. Henrich, N. Voelzow, R. Dillmann
Abstract—In this paper we will give an overview of our crossplatform software framework for the development of medical simulations in the field of surgical planning. We use state-ofthe-art...
M. Kaiser, L. Camarinha-matos, A. Giordana, V. Klingspor, ...
This paper describes methodologies applied and results achieved in the framework of the ESPRIT Basic Research Action B-Learn II (project no. 7274). B-Learn II is one of the rst projects working...
Robot Programming by Demonstration (2008)
Billard, A., Calinon, S., Dillmann, R., Schaal, S.
Robot PbD started about 30 years ago, growing importantly during the past decade. The rationale for moving from purely preprogrammed robots to very flexible user-based interfaces for training the...
Grasping in depth maps of time-of-flight cameras (2008)
Kühnle, J., Xue, Z., Stotz, M., Zöllner, J.M., Verl, A., Dillmann, R.
The recognition and localizaton of objects in space is of fundamental interest in many robot vision applications, especially in those that are supposed to provide services to human beings. The...
Grundmann, T., Eidenberger, R., Zöllner, R.D., Xue, Z., Rühl, S., Zöllner, J.M., ...
The major goal of research regarding mobile service robotics is to enable a robot to assist human beings in their everyday life. This implies that the robot will have to deal with everyday life...
A new anthropomorphic robotic hand. (2008)
Gaiser, I., Schulz, S., Kargov, A., Klosek, H., Bierbaum, A., Pylatiuk, C., ...
8th IEEE-RAS Internat.Conf.on Humanoid Robots, Daejeon, Korea, December 1-3, 2008
Markus Rieder, Nicolas Guil, R. Dillmann
A curvature based technique for fast range image registration is described in this work. With this technique the rotation and the displacement of a surface with respect to another one is calculated....
Interaction with Robot Assistants: Commanding (2007)
M. Ehrenmann, R. Becher, B. Giesler, R. Zöllner, O. Rogalla, R. Dillmann, ...
Giving advice to a mobile robot assistant still requires classical user interfaces. A more intuitive way of commanding is achieved by verbal or gesture commands. In this article, we present new...
Integration of Tactile Sensors in a Programming by Demonstration (2007)
R. Zsllner, O. Roalla, R. Dillmann
Easy programming methods following the Program-ming by Demonstration (PbD) paradigm were devel-oped within the last years. The main goal of these systems is to allow the unexperienced human user to...
MORPHA: Communication and Interaction with Intelligent, Anthropomorphic Robot Assistants (2007)
K. Lay, E. Prassler, R. Dillmann, G. Grunwald, M. Hägele, G. Lawitzky, ...
Robot systems, which are employed outside traditional manufacturing applications, socalled service robots or robot assistants, have by far not reached the economic potential of industrial robots yet....
Directing a Mobile Robot with Dynamic Gestures (2007)
M. Ehrenmann, T. Liitticke, R. Dillmann
Giving advice to a mobile robot still requires classical user interfaces. A more intuitive way of commanding can be provided by verbal or gesture commands. In this article, we present new approaches...
Active Parameter Control for the Low Level Vision System of a Mobile Robot (2007)
P. Weckesser, U. Rembold, Prof Dr. -ing, Prof Dr. -ing, R. Dillmann, R. Dillmann
Computer vision systems are today an important sensor for intelligent robotic systems. However, the design of a vision system that a robot can use as a fast and robust sensors in a complex, partially...
Achieving Intelligence in Mobility { Incorporating (2007)
Kunstliche Intelligenz, Anforderungen An, Lehrstuhl Viii, Lehrstuhl Viii, Lehrstuhl Viii, J. R. Millan, ...
ftp: ftp://ftp-ai.informatik.uni-dortmund.de/pub/Reports www: ISSN 0943-4135
M. Kaiser, L. Camarinha-matos, A. Giordana, V. Klingspor, ...
This paper describes methodologies applied and results achieved in the framework of the ESPRIT Basic Research Action B-Learn II (project no. 7274). B-Learn II is one of the first projects working...
R. Dillmann, O. Rogalla, M. Ehrenmann, R. Z Ollner, M. Bordegoni
Service robots require easy programming methods allowing the unexperienced human user to easily integrate motion and perception skills or complex problem solving strategies. To achieve this goal,...
An integrated simulation framework for cognitive automobiles (2007)
Vacek, S., Nagel, R., Batz, T., Moosmann, F., Dillmann, R.
A cognitive automobile is a complex system. It is an indisputable fact that simulations are valuable tools for the development and testing of such complex systems. This paper presents an integrated...
An integrated simulation framework for cognitive automobiles (2007)
Vacek, S., Nagel, R., Batz, T., Moosmann, F., Dillmann, R.
A cognitive automobile is a complex system. It is an indisputable fact that simulations are valuable tools for the development and testing of such complex systems. This paper presents an integrated...
Kohlhepp, P., Strand, M., Bretthauer, G., Dillmann, R.
at - Automatisierungstechnik, 55(2007) S.136-45
Kohlhepp, P., Strand, M., Bretthauer, G., Dillmann, R.
at - Automatisierungstechnik, 55(2007) S.190-200
An anthropomorphic grasping approach for an assistant humanoid robot. (2007)
Morales, A., Azad, P., Asfour, T., Kraft, D., Knoop, S., Dillmann, R., ...
ROBOTIK 2006 : 4th German Conf.on Robotics, München, May 15-17, 2006
Applications of a fluidic artificial hand in the field of rehabilitation. (2007)
Kargov, A., Ivlev, O., Pylatiuk, C., Asfour, T., Schulz, C., Gräser, A., ...
Kommu, S.S. [Hrsg.]
Kognitive Architekturen für humanoide Roboter: Anforderungen, Überblick und Vergleich. (2007)
Burghart, C., Mikut, R., Asfour, T., Schmid, A., Kraft, F., Schrempf, O., ...
Mikut, R. [Hrsg.]
Using orthogonal surface directions for autonomous 3D-exploration of indoor environments. (2006)
Kohlhepp, P., Bretthauer, G., Walther, M., Dillmann, R.
Proc.of 2006 IEEE/RSJ Internat.Conf.on Robots and Intelligent Systems, Beijing, China, October 9-15, 2006
Advances in human-robot interaction (2005)
Prassler, E., Lawitzky, G., Stopp, A., Grunwald, G., Hägele, M., Dillmann, R., ...
Some of the dreams of robotic scientists are easily described: robots doing tedious housekeeping work, robots playing with the children, robots helping elderly people at home in their daily tasks,...
Prof Dr. -ing, R. Dillmann, Klaus Steinbach
An approach for detecting collision and self-collision for dynamic objects based on hierarchical sphere trees.
A cognitive architecture for a humanoid robot: a first approach. (2005)
Burghart, C., Mikut, R., Stiefelhagen, R., Asfour, T., Holzapfel, H., Steinhaus, P., ...
Humanoids 2005 : IEEE-RAS Internat.Conf.on Humanoid Robots, Tsukuba, J, December 5-7, 2005
Sequential 3D-SLAM for mobile action planning. (2004)
Kohlhepp, P., Pozzo, P., Walther, M., Dillmann, R.
Proc.of 2004 IEEE/RSJ Internat.Conf.on Intelligent Robots and Systems, Sendai, J, September 28 - October 2, 2004
MORPHA: interactive and co-operative robots - at the frontier to a new generation of robots (2003)
Lay, K., Prassler, E., Stopp, A., Lawitzky, G., Grunwald, G., Schöner, G., ...
Mobile und humanoide Robotertechnik (2003)
Dillmann, R., Lay, K., Prassler, E., Stopp, A., Lawitzky, G., Grunwald, G., ...
In this paper we present a selection of recent results of the BMBF lead project MORPHA. The acronym MORPHA stands for Interaction and Communication between Humans and Anthropomorphic Robot...
Real-Time 3D Map Building for Local Navigation of a Walking Robot in Unstructured Terrain (2003)
B. Gaßmann, L. Frommberger, R. Dillmann, K. Berns, Forschungszentrum Informatik
Locomotion of walking machines on a well defined path in unstructured terrain requires a model of the environment. But, in particular, middle sized robots like LAURON III don't provide the...
Smooth cutting in nonlinear soft tissue model (2003)
S. Seifert, R. Kussaether, R. Unterhinninghofen, O. Burgert, R. Dillmann
For preoperative surgical planning, a simulation system has to support realistic cuts, which are normally smooth and curved. Since biological soft tissue is deformed with large displacement on an...
Using a panoramic camera for 3D head tracking in an AR environment (2002)
B. Giesler, T. Salb, R. Dillmann, T. Weyrich, Eth Ziirich
in an 1
Programming Service Tasks in Household Environments by Human Demonstration (2002)
M. Ehrenmann, R. Zöllner, O. Rogalla, R. Dillmann
Robot assistants will only reach a mass consumer market when they are easy to use. This applies especially to the way a user programs it’s robot system. The only approach that enables a non expert...
Using gesture and speech control for commanding a robot assistant (2002)
O. Rogalla, M. Ehrenmann, R. Zöllner, R. Becher, R. Dillmann
Giving advice to a mobile robot assistant still requires classical user interfaces. A more intuitive way of commanding is achieved by verbal or gesture commands. In this article, we present new...
Human Friendly Programming of Humanoid Robots - (2002)
The German Collaborative, R. Dillmann, M. Ehrenmann, P. Steinhaus, O. Rogalla, R. Zöllner
Main goal of the German Collaborative Research Center (GCRC) is to build an anthropomorphic robot which is able to cooperate with humans. It addresses scientific problems in four di#erent fields:...
Understanding Users Intention: Programming Fine Manipulation Tasks by Demonstration (2002)
R. Zöllner, O. Rogalla, R. Dillmann, M. Zöllner
The Programming by Demonstration (PbD) paradigm enable programming of service robots by unexperienced human users. The main goal of these systems is to allow the unexperienced human user to easily...
MORPHA: Communication and interaction with intelligent, anthropomorphic robot assistants (2001)
Lay, K., Prassler, E., Dillmann, R., Grundwald, G., Hägele, M., Lawitzky, G., ...
Robot systems, which are employed outside traditional manufacturing applications, so-called service robots or robot assistants, have by far not reached the economic potential of industrial robots...
Sensor Fusion Approaches for Observation of User Actions in Programing by Demonstration (2001)
M. Ehrenmann, R. Zner, S. Knoop, R. Dillmann
Good observation of a manipulation presentation performed by a human teacher is crucial to further processing steps in Programing by demonstration (Pbd) which has reached a prime of importance in...
Integration of Tactile Sensors in a Programming by Demonstration system (2001)
R. Zner, O. Rogalla, R. Dillmann
Easy programming methods following the Programming by Demonstration (PbD) paradigm were developed within the last years. The main goal of these systems is to allow the unexperienced human user to...
Dynamic Gestures as an Input Device for Directing a Mobile Platform (2001)
M. Ehrenmann, T. Liitticke, R. Dillmann
Giving advice to a mobile robot still requires classical user interfaces. A more intuitive way of commanding can be provided by verbal or gesture commands. In this article, we present new approaches...
al: A System for Facial Reconstruction using Distraction and (2001)
O. Burgert, T. Salb, T. Gockel, R. Dillmann, S. Hassfeld, J. Brief, ...
The goal of the system presented in this paper is to support several facial surgeries which are aiming to transform an unsymmetrical face to a symmetric one. There are two main techniques to achieve...
T. Salb, J. Brief, O. Burgert, T. Gockel, S. Hassfeld, J. Mühling, ...
For better transfer of preoperatively calculated medical data into the operation field we have developed a technique called INPRES – “INtraoperative PRESentation of Surgical Planning and...
Range Image Registration for Free-Form Surfaces Using Curvature Information as Invariance (1998)
Markus Rieder, N. Guil, Markus Rieder, Nicolas Guil, R. Dillmann, R. Dillmann
A curvature based technique for fast range image registration is described in this work. With this technique the rotation and the displacement of a surface with respect to another one is calculated....
Knowledge Representation and Efficient Image Processing for High-Level Skill Acquisition (1997)
H. Friedrich, H. Friedrich, O. Rogalla, O. Rogalla, R. Dillmann, R. Dillmann, ...
: Since it is important for service robots to be easily programmed, an interactive programming techniques like Programming by Demonstration (PbD) are obviously adequate programming methods. Image...
Knowledge Representation and Efficient Image Processing for High-Level Skill Acquisition (1997)
H. Friedrich, Friedrich Rogalla, R. Dillmann, N. Guil, P. Trabado
: Since it is important for service robots to be easily programmed, an interactive programming techniques like Programming by Demonstration (PbD) are obviously adequate programming methods. Image...
Simulation of Jaw-Movements for the Musculoskeletal Diagnoses (1997)
T. Weingärtner, U. Rembold, Prof Dr, Prof Dr, R. Dillmann, R. Dillmann
this paper is the introduction of a kinematic model of the temporomandibular joint. This kinematic model describes the geometrical and analytical movement of the jaw by specially defined axes. It is...
Proc.of the 2nd IARP Workshop on Medical Robotics, Heidelberg, November 10-12, 1997 (1997)
Dillmann, R., Holler, E., Meinzer, H.P.
Karlsruhe : FZKA, 1997
Building Elementary Robot Skills from Human Demonstration (1996)
This paper presents a general approach to the acquisition of sensor-based robot skills from human demonstrations. Since human-generated examples cannot be assumed to be optimal with respect to the...
Communication as the basis for learning in multi-agent systems (1996)
M. Kaiser, R. Dillmann, O. Rogalla
This paper discusses the signi cance of communication between individual agents that are embedded into learning Multi-AgentSystems. For several learning tasks occurring within a Multi-Agent System,...
M. Kaiser, V. Klingspor, M. Accame, F. Wallner, R. Dillmann
This paper presents an integrated approach to the application of Machine Learning techniques for the enhancement of mobile robots ' skills. It identifies the learning tasks that can be observed...
Split-and-Merge Segmentation using Octrees (1995)
Tim Weingärtner, Rüdiger Dillmann, U. Rembold, Prof Dr, Prof Dr, R. Dillmann
This paper presents an algorithm for the segmentation of 3D datasets which especially occur in medical imaging. A combined split and merge segmentation is used to extract homogeneous regions out off...
Using Neural Networks For Real-World Adaptive Control (1995)
M. Kaiser, M. Deck, A. Retey, K. Berns, W. Ilg, R. Dillmann
This paper discusses the design of neural networks to solve specific problems of adaptive control. In particular, it investigates the influence of typical problems arising in real-world control tasks...
I.S. Lin, J. Perret, F. Wallner, R. Dillmann
. To enable a mobile robot to perform intervention or service tasks in a remote environment, the robot should be able to learn the unknown world and execute high level task commands from the...
PRIAMOS: An Advanced Mobile System For Service, Inspection, And Surveillance Tasks (1995)
R. Dillmann, M. Kaiser, F. Wallner, P. Weckesser
Opening new application areas for mobile robots requires to design systems that are robust, safe, and adaptive with respect to the environment they are operating in. Such systems must be smart enough...
Acquisition of Elementary Robot Skills from Human Demonstration (1995)
R. Dillmann, M. Kaiser, A. Ude
. Similarly to human voluntary movements, a robot's elementary skills can coarsely be divided into two main categories: rapid transfer movements that are executed in an open loop with no...
Teaching and understanding intelligent service robots: A Machine Learning Approach (1995)
R. Dillmann, M. Kaiser, V. Klingspor, K. Morik, F. Wallner
. One of the most important aspects in service robotics is the communication of service robots with their users. Since these users must in general be considered as not familiar with either robots or...
Position Correction of a Mobile Robot Using Predictive Vision (1995)
P. Weckesser, F. Wallner, R. Dillmann
. The path of a mobile robot in indoor environments can be described as a sequence of low level, so called reflexive navigation tasks. Such a task is collision avoidance; a behavior which enables the...
P. Weckesser, R. Dillmann, M. Elbs, S. Hampel, Prof Dr. U. Rembold
In this paper an approach to real-time position correction and environmental modeling based on odometry, ultrasonic sensing, structured light sensing and active stereo vision (bin- and trinocular) is...
Teaching and understanding intelligent service robots: A Machine Learning Approach (1995)
R. Dillmann, M. Kaiser, V. Klingspor, K. Morik, F. Wallner
Abstract. One of the most important aspects in service robotics is the communication of service robots with their users. Since these users must in general be considered as not familiar with either...
Photogrammetric calibration methods for an active stereo vision system (1994)
Peter Weckesser, Gunter Hetzel, U. Rembold, Prof Dr, Prof Dr, R. Dillmann
Abstract. In this paper the active stereo vision system KASTOR 1
Efficient mapping of dynamic environment by use of sonar and active stereo-vision (1994)
F. Wallner, U. Rembold, Prof Dr. -ing, Prof Dr. -ing, R. Dillmann, R. Dillmann
Abstract. A mobile robot that navigates in unknown or changing environment needs to maintain a dynamic model of its environment in order to update existing knowledge about the world. This paper...
In this paper the active stereo vision system KASTOR 1 of the IPR 2 and its calibration technique are described. KASTOR is designed to serve as a flexible sensing device mounted on a mobile robot...
A Framework For The Generation Of Robot Controllers From Examples (1994)
Michael Kaiser, U. Rembold, Prof Dr. -ing, Prof Dr. -ing, R. Dillmann
Programming by Human Demonstration is an intuitive method to program a robot. The user, acting as the teacher or programmer, shows how a particular task is performed, using an interface device that...
S. Münch, J. Kreuziger, M. Kaiser, R. Dillmann
Robot Programming by Demonstration is an intuitive method to program a robot. The programmer shows how a particular task is performed, using an interface device that allows the measurement and...
Robot Learning - Three case studies in Robotics and Machine Learning (1994)
M. Kaiser, L. Camarinha-Matos, A. Giordana, V. Klingspor, ...
This paper describes methodologies applied and results achieved in the framework of the ESPRIT Basic Research Action B-Learn II (project no. 7274). B-Learn II is one of the first projects working...
Executing Elementary Assembly Operations by a Two-Arm Robot (1993)
X. Cheng, U. Rembold, R. Dillmann
This paper presents a component of the on-line tasklevel planning system of the mobile, two-arm robot KAMRO, which is being developed at our Institute. This component generates sequences of explicit...
1st IARP Workshop on Micro Robotics and Systems, Karlsruhe, June 15-16, 1993 Proc. (1993)
Holler, E., Dillmann, R., [Hrsg.]
Karlsruhe : KfK, 1993
Fast Distance Computation for On-line Collision Detection with Multi-Arm Robots (1992)
Dominik Henrich, Xiaoqing Cheng, U. Rembold, Prof Dr. -ing, Prof Dr. -ing, R. Dillmann
For the on-line collision detection with a multi-arm robot a fast method for computing the so-called collision vector is presented. Manipulators and obstacles are modelled by sets of convex...
Fast Distance Computation for on-line Collision detection with multi-arm robots (1992)
Dominik Henrich, Xiaoqing Cheng, U. Rembold, Prof Dr. -ing, Prof Dr. -ing, R. Dillmann
For the on-line collision detection with a multi-arm robot a fast method for computing the so-called collision vector is presented. Manipulators and obstacles are modelled by sets of convex...
Robotik in USA. Ein Reisebericht (1989)
Blume, C., Lawo, M., Adolphs, P., Paetsch, W., Hillenmeier, A., Struck, G., ...
In June 1989, a group of German scientists visited institutions in the USA dealing with advanced robotics research, to gain a deeper insight in the American status of this technology. Research...
A General Approach for Modelling Robots (1963)
O. Rogalla, K. Pohl, R. Dillmann
Modeling manipulators has been an important part in robotic simulations. There are various types of robot systems used in today's robotic research and application, e.g. the six axis industrial...