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Towards the Robotic Co-Worker

Haddadin, Sami and Suppa, Michael and Fuchs, Stefan and Bodenmüller, Tim and Albu-Schäffer, Alin and Hirzinger, Gerd (2011) Towards the Robotic Co-Worker. In: Springer-Verlag Berlin Heidelberg. pp. 261-280.

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Recently, robots have gained capabilities in both sensing and actuation, which enable operation in the proximity of humans. Even direct physical interaction has become possible without suffering the decrease in speed and payload. The DLR Lightweight Robot III (LWR-III), whose technology is currently being transferred to the robot manufacturer KUKA Roboter GmbH, is such a device capable of realizing various features crucial for direct interaction with humans. Impedance control and collision detection with adequate reaction are key components for enabling “soft and safe” robotics. The implementation of a sensor based robotic co-worker that brings robots closer to humans in industrial settings and achieve close cooperation is an important goal in robotics. Despite being a common vision in robotics it has not become reality yet, as there are various open questions still to be answered. In this paper a solid concept and a prototype realization of a co-worker scenario are developed in order to demonstrate that state-of-the-art technology is now mature enough to reach this aspiring aim. We support our ideas by addressing the industrially relevant bin-picking problem with the LWR-III, which is equipped with a Time-of-Flight camera for object recognition and the DLR 3D-Modeller for generating accurate environment models. The paper describes the sophisticated control schemes of the robot in combination with robust computer vision algorithms, which lead to a reliable solution for the chosen problem. Strategies are devised for safe interaction with the human during task execution, state depending robot behavior, and the appropriate mechanisms, to realize robustness in partially unstructured environments.

Document Type:Book Section
Title:Towards the Robotic Co-Worker
AuthorsInstitution or Email of Authors
Haddadin, SamiSami.Haddadin@dlr.de
Suppa, MichaelMichael.Suppa@dlr.de
Fuchs, StefanStefan.Fuchs@dlr.de
Bodenmüller, TimTim.Bodenmüller@dlr.de
Albu-Schäffer, AlinAlin.Albu-Schäffer@dlr.de
Hirzinger, GerdGerd.Hirzinger@dlr.de
Refereed publication:Yes
Page Range:pp. 261-280
Pradalier, CédricUNSPECIFIED
Siegwart, RolandUNSPECIFIED
Hirzinger, GerdUNSPECIFIED
Publisher:Springer-Verlag Berlin Heidelberg
Keywords:sichere Aufgabenplanung, Roboterprogrammierung, Kollisionsvermeidung, Objekterkennung, 3D-Modellierung, Roboterassistenten
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - RMC - Kognitive Intelligenz und Autonomie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Gabriele Beinhofer
Deposited On:20 Jan 2012 12:57
Last Modified:12 Dec 2013 21:33

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