Search results: Found 9

Listing 1 - 9 of 9
Sort by
Whole-Body Affordances for Humanoid Robots: A Computational Approach

Author:
Book Series: Karlsruhe Series on Humanoid Robotics ISSN: 25120875 ISBN: 9783731507987 Year: Volume: 4 Pages: X, 245 p. DOI: 10.5445/KSP/1000083165 Language: ENGLISH
Publisher: KIT Scientific Publishing
Subject: Computer Science
Added to DOAB on : 2019-07-28 18:37:01
License:

Loading...
Export citation

Choose an application

Abstract

The goal of this work is the development of a novel computational formalization of whole-body affordances which is suitable for the multimodal detection and validation of interaction possibilities in unknown environments. The hierarchical framework allows the consistent fusion of affordance-related evidence and can be utilized for realizing shared autonomous control of humanoid robots. The affordance formalization is evaluated in several experiments in simulation and on real humanoid robots.

Automatic Reconstruction of Textured 3D Models

Author:
Book Series: Schriftenreihe / Institut für Mess- und Regelungstechnik, Karlsruher Institut für Technologie ISSN: 16134214 ISBN: 9783866448056 Year: Volume: 020 Pages: IX, 158 p. DOI: 10.5445/KSP/1000025619 Language: ENGLISH
Publisher: KIT Scientific Publishing
Subject: Technology (General)
Added to DOAB on : 2019-07-30 20:01:58
License:

Loading...
Export citation

Choose an application

Abstract

Three dimensional modeling and visualization of environments is an increasingly important problem. This work addresses the problem of automatic 3D reconstruction and we present a system for unsupervised reconstruction of textured 3D models in the context of modeling indoor environments. We present solutions to all aspects of the modeling process and an integrated system for the automatic creation of large scale 3D models.

Learning and Execution of Object Manipulation Tasks on Humanoid Robots

Author:
Book Series: Karlsruhe Series on Humanoid Robotics ISSN: 25120875 ISBN: 9783731507499 Year: Volume: 3 Pages: X, 236 p. DOI: 10.5445/KSP/1000078313 Language: ENGLISH
Publisher: KIT Scientific Publishing
Subject: Computer Science
Added to DOAB on : 2019-07-28 18:37:01
License:

Loading...
Export citation

Choose an application

Abstract

Equipping robots with complex capabilities still requires a great amount of effort. In this work, a novel approach is proposed to understand, to represent and to execute object manipulation tasks learned from observation by combining methods of data analysis, graphical modeling and artificial intelligence. Employing this approach enables robots to reason about how to solve tasks in dynamic environments and to adapt to unseen situations.

Omnidirectional Stereo Vision for Autonomous Vehicles

Author:
Book Series: Schriftenreihe / Institut für Mess- und Regelungstechnik, Karlsruher Institut für Technologie ISSN: 16134214 ISBN: 9783731503576 Year: Volume: 032 Pages: XV, 125 p. DOI: 10.5445/KSP/1000046298 Language: ENGLISH
Publisher: KIT Scientific Publishing
Subject: Technology (General)
Added to DOAB on : 2019-07-30 20:01:57
License:

Loading...
Export citation

Choose an application

Abstract

Environment perception with cameras is an important requirement for many applications for autonomous vehicles and robots. This work presents a stereoscopic omnidirectional camera system for autonomous vehicles which resolves the problem of a limited field of view and provides a 360° panoramic view of the environment. We present a new projection model for these cameras and show that the camera setup overcomes major drawbacks of traditional perspective cameras in many applications.

World Modeling for Intelligent Autonomous Systems

Author:
Book Series: Karlsruher Schriften zur Anthropomatik / Lehrstuhl für Interaktive Echtzeitsysteme, Karlsruher Institut für Technologie ; Fraunhofer-Inst. für Optronik, Systemtechnik und Bildauswertung IOSB Karlsruhe ISSN: 18636489 ISBN: 9783731506416 Year: Volume: 30 Pages: X, 196 p. DOI: 10.5445/KSP/1000066938 Language: ENGLISH
Publisher: KIT Scientific Publishing
Subject: Computer Science
Added to DOAB on : 2019-07-30 20:01:57
License:

Loading...
Export citation

Choose an application

Abstract

The functioning of intelligent autonomous systems requires constant situation awareness and cognition analysis. Thus, it needs a memory structure that contains a description of the surrounding environment (world model) and serves as a central information hub. This book presents a row of theoretical and experimental results in the field of world modeling. This includes areas of dynamic and prior knowledge modeling, information fusion, management and qualitative/quantitative information analysis.

Human-Inspired Balancing and Recovery Stepping for Humanoid Robots

Author:
Book Series: Karlsruhe Series on Humanoid Robotics ISSN: 25120875 ISBN: 9783731509035 Year: Volume: 5 Pages: X, 235 p. DOI: 10.5445/KSP/1000091605 Language: ENGLISH
Publisher: KIT Scientific Publishing
Subject: Computer Science
Added to DOAB on : 2019-07-30 20:01:57
License:

Loading...
Export citation

Choose an application

Abstract

Robustly maintaining balance on two legs is an important challenge for humanoid robots. The work presented in this book represents a contribution to this area. It investigates efficient methods for the decision-making from internal sensors about whether and where to step, several improvements to efficient whole-body postural balancing methods, and proposes and evaluates a novel method for efficient recovery step generation, leveraging human examples and simulation-based reinforcement learning.

A Contribution to Resource-Aware Architectures for Humanoid Robots

Author:
Book Series: Karlsruhe Series on Humanoid Robotics ISSN: 25120875 ISBN: 9783731506324 Year: Volume: 1 Pages: XIII, 193 p. DOI: 10.5445/KSP/1000065884 Language: ENGLISH
Publisher: KIT Scientific Publishing
Subject: Computer Science
Added to DOAB on : 2019-07-30 20:01:59
License:

Loading...
Export citation

Choose an application

Abstract

The goal of this work is to provide building blocks for resource-aware robot architectures. The topic of these blocks are data-driven generation of context-sensitive resource models, prediction of future resource utilizations, and resource-aware computer vision and motion planning algorithms. The implementation of these algorithms is based on resource-aware concepts and methodologies originating from the Transregional Collaborative Research Center ""Invasive Computing"" (SFB/TR 89).

Shared Grasping: a Combination of Telepresence and Grasp Planning

Author:
ISBN: 9783731504023 Year: Pages: X, 227 p. DOI: 10.5445/KSP/1000047718 Language: ENGLISH
Publisher: KIT Scientific Publishing
Subject: Computer Science
Added to DOAB on : 2019-07-30 20:02:01
License:

Loading...
Export citation

Choose an application

Abstract

''Shared Grasping'' describes a new approach to shared autonomy for grasping and manipulation tasks to be used in a telepresence system. It is realized with two assistance functionalities, which simplify the grasping, and a user interface, which merges haptic feedback and visual assistance. User studies confirm a reduction in operator workload and an increase in task performance while maintaining a high immersion of the operator into the remote environment when using the assistance functions.

Compact Environment Modelling from Unconstrained Camera Platforms

Author:
Book Series: Schriftenreihe / Institut für Mess- und Regelungstechnik, Karlsruher Institut für Technologie ISSN: 16134214 ISBN: 9783731508014 Year: Volume: 040 Pages: VII, 129 p. DOI: 10.5445/KSP/1000083235 Language: ENGLISH
Publisher: KIT Scientific Publishing
Subject: Technology (General)
Added to DOAB on : 2019-07-28 18:37:01
License:

Loading...
Export citation

Choose an application

Abstract

Mobile robotic systems need to perceive their surroundings in order to act independently. In this work a perception framework is developed which interprets the data of a binocular camera in order to transform it into a compact, expressive model of the environment. This model enables a mobile system to move in a targeted way and interact with its surroundings. It is shown how the developed methods also provide a solid basis for technical assistive aids for visually impaired people.

Listing 1 - 9 of 9
Sort by
Narrow your search

Publisher

KIT Scientific Publishing (9)


License

CC by-sa (9)


Language

english (9)


Year
From To Submit

2019 (1)

2018 (3)

2017 (2)

2016 (1)

2014 (2)