ErgoBot
Dynamische und ergonomische Adaption von Roboterbewegungen an den Menschen in Kollaborations-Szenarien durch maschinelles Lernen und Bewegungsanalyse.
Projektbereich: Intelligente vernetzte Systeme
Cluster: Neue Materialien und Produktionsprozesse
Unternehmensführung und -steuerung
X Intelligente vernetzte Systeme
Innovation in Lehr-/Lernprozessen
X Industrie 4.0 und die Digitalisierung der Lebensbereiche sowie ihre Auswirkungen
Auftraggeber/Mittelgeber: BMWI
Projektträger: AiF
Kooperationspartner: Artiminds
Projektkoordinator: DHBW, Artiminds
Projektleiter
Mitarbeiter
Erzbergerstraße 121, Raum D324
Erzbergerstraße 121, Raum D324
Projektlaufzeit: 01.11.2018-30.04.2020
Projektbeschreibung + Zielsetzung: Ziel dieses FuE-Projektes ist es, einen ersten Software-Prototypen zu entwickeln, der es ermöglicht, in Mensch-Roboter-Kollaboration die Roboter-Kinematiken dynamisch an die Bedürfnisse der Menschen zu adaptieren. Dabei sollen insbesondere die individuellen biomechanischen Eigenheiten, ergonomische und sicherheitstechnische Anforderungen, psychologische Komponenten sowie betriebswirtschafliche Zielgrößen berücksichtigt werden. Eine Optimierung soll mit Hilfe von Methoden maschinellen Lernens erfolgen und sowohl die einzelne Mensch-Maschine-Interaktion als auch die Produktion über den gesamten Tagesverlauf hinweg im Blick behalten. Dabei gilt es, eine geeignete Balance zwischen der Erwartbarkeit der Roboterbewegung und flexibler Adaption zu finden.
Zielgruppe: keine Angaben
Vorgehensweise/Methodik: keine Angaben
Status/Stadium des Projekts: geschlossen
Ansprechpartner: Prof. Dr. Marcus Strand
Publikationen
2025
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(2025) : Teaching Service Robotics with ROS and Unibotics Web Framework in Higher Education In: Balogh, Richard; Obdržálek, David; Fachantidis, Nikolaos (Hg.): Robotics in Education: Proceedings of the RiE 2025 Conference: 1: Springer Nature Switzerland (Lecture Notes in Networks and Systems), S. 508-520
2024
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(2024) : RoboGrind: Intuitive and Interactive Surface Treatment with Industrial Robots In: IEEE: 2024 IEEE International Conference on Robotics and Automation (ICRA): International Conference on Robotics and Automation (ICRA): Yokohama, Japan: 13-17 May 2024, S. 2140-2146
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(2024) : Towards an Integrated Development tool for GA and a symbolic CGA implementation based on CasADi for application in robotics In: Bayro-Corrochano, Eduardo: VISION & ROBOTICS: Applied Geometric Algebras in Computer Science and Engineering 2024: Amsterdam: August 27-29, 2024. University of Amsterdam, University of Cambridge
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(2024) : Tailored Robotics Lab Sessions - Accommodating Undergraduate Students with Diverse Skill: Session #1 Pedagocical aspects I, no.: 12: 15th International Conference on Robotics in Education - RiE 2024: Koblenz, Germany: April 10-12, 2024. University of Koblenz
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(2024) : Maßgeschneiderte Robotik-Laborversuche. 209 Alle Informationen finden Sie unter: www.karlsruhe.dhbw.de/rahmlab Kontakt Duale Hochschule Baden-Württemberg Projektbeschreibung (inkl. Zielsetzung und methodische Vorgehen) In: Klärle, Martina; Küstermann, Roland (Hg.): Bridging the Gap: Innovationstransfer für Studium und Praxis: DHBW Forschungstag 2024: Karlsruhe: 3.-4. Juli 2024. Duale Hochschule Baden-Württemberg, S. 209-211
2023
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(2023) : Artificial Neural Network Guided Compensation of Nonlinear Payload and Wear Effects for Industrial Robots In: Xu, Xun; Vogel-Heuser, Birgit; Lu, Yuqian (Hg.): Editorial Proceedings of 2023 IEEE 19th International Conference on Automation Science and Engineering (CASE): Automation for a Resilient Society: 2023 IEEE 19th International Conference on Automation Science and Engineering (CASE): Auckland, New Zealand: 26-30 August 2023. IEEE, S. 1-8. Online verfügbar unter https://ieeexplore.ieee.org/document/10260559
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(2023) : Application of Conformal Geometric Algebra in Robotics: DH-Parameters Extraction from Joint Axes Poses In: IAS Society: Proceedings of the 18th International Conference on Intelligent Autonomous Systems IAS-18: 18th International Conference on Intelligent Autonomous Systems IAS-18: Suwon, Korea: July 4 – 7, 2023. Korea Institute of Robotics and Technology Convergence
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(2023) : Autonomous Surface Grinding of wind turbine blades In: IAS Society: Proceedings of the 18th International Conference on Intelligent Autonomous Systems IAS-18: 18th International Conference on Intelligent Autonomous Systems IAS-18: Suwon, Korea: July 4 – 7, 2023. Korea Institute of Robotics and Technology Convergence
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(2023) : RoboGrind – Hybride AI für die Oberflächenbearbeitung mit Robotern In: Weber, Joachim: Tagungsband zum DHBW Forschungstag 2023. Unter Mitarbeit von Cansu Atlay, Alison Ehringer und Annette Herzog: Nachhaltigkeit gestalten: Gesellschaft, Gesundheit, Technologien und Märkte: Stuttgart: 6. Juli 2023. Dualen Hochschule Baden-Württemberg, S. 186-187
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(2023) : Autonomous Model-Based Inspection Planning for 3D Visual Coverage In: IAS Society: Proceedings of the 18th International Conference on Intelligent Autonomous Systems IAS-18: 18th International Conference on Intelligent Autonomous Systems IAS-18: Suwon, Korea: July 4 – 7, 2023. Korea Institute of Robotics and Technology Convergence
2022
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(2022) : Kinematic calibration of a collaborative robot by a marker based optical measurement procedure In: IAS Society: Proceedings of the 17th International Conference on Intelligent Autonomous Systems IAS-17: 17th International Conference on Intelligent Autonomous Systems IAS-17: Zagreb, Croatia: June 13-16, 2022. University of Zagreb Faculty of Electrical Engineering and Computing
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(2022) : 46 - Dynamische und ergonomische Adaption von Roboterbewegungen an den Menschen durch Maschinelles Lernen In: Klärle, Martina; Reichardt, Dirk (Hg.): Book of Abstracts: DHBW AI Transfer Congress 2022: Heilbronn, Germany: Freitag, 23. September 2022. Cooperate State University Baden-Wuertemberg: Stuttgart: Duale Hochschule
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(2022) : 49 - RoboGrind – Hybride AI für die flexible und hochautomatisierte Oberflächenbearbeitung mit Robotern In: Klärle, Martina; Reichardt, Dirk (Hg.): Book of Abstracts: DHBW AI Transfer Congress 2022: Heilbronn, Germany: Freitag, 23. September 2022. Cooperate State University Baden-Wuertemberg: Stuttgart: Duale Hochschule, S. 63-64
2021
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(2021) : Fusion Of Radar- And Lidar-Data For Object-Tracking-Applications At Feature Level In: IAS Society: Proceedings of the 16th International Conference on Intelligent Autonomous Systems IAS-16: 16th International Conference on Intelligent Autonomous Systems IAS-16: Singapore: 22-25 June 2021. National University of Singapore
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(2021) : Determination of posture comfort zones for robot-human handover tasks In: IAS Society: Proceedings of the 16th International Conference on Intelligent Autonomous Systems IAS-16: 16th International Conference on Intelligent Autonomous Systems IAS-16: Singapore: 22-25 June 2021. National University of Singapore
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(2021) : A marker based optical measurement procedure to analyse robot arm movements and its application to improve accuracy of industrial robots In: IAS Society: Proceedings of the 16th International Conference on Intelligent Autonomous Systems IAS-16: 16th International Conference on Intelligent Autonomous Systems IAS-16: Singapore: 22-25 June 2021. National University of Singapore
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(2021) : Learning and Transfer of movement gaits using reinforcement learning In: CLAWAR Association: CLAWAR 2021 conference proceedings: 24rd International Conference on Climbing and Walking Robots and the support Technologies for Mobile Machines (CLAWAR 2021): Takarazuka, Japan: 30 Aug - 1 Sep 2021. CLAWAR Association, Kwansei Gakuin University (KGU), Takarazuka, Japan: Springer (AISC Springer Series)
2019
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(2019) : Classification of 3D structures based on an object detection for facade elements in multiple views during the reconstruction process In: IEEE: Proceedings of the IEEE Conference on Multisensor Fusion and Integration (MFI) 2019: 2019 IEEE International Conference on Industrial Cyber Physical Systems (ICPS 2019)): Taipeh, Taiwan: 6 – 9 May 2019. Institute of Electrical and Electronics Engineers, Inc.
2018
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(2018) : Towards a Stair Climbing Robot System Based on a Re-configurable Linkage Mechanism. Proceedings of the 15th International Conference IAS-15 In: Strand, Marcus; Dillmann, Rüdiger; Menegatti, Emanuele; Ghidoni, Stefano (Hg.): Intelligent Autonomous Systems 15: Proceedings of the 15th International Conference IAS-15: Springer International Publishing (Advances in Intelligent Systems and Computing), S. 278-288
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(2018) : Simulation and Transfer of Reinforcement Learning Algorithms for Autonomous Obstacle Avoidance In: Strand, Marcus; Dillmann, Rüdiger; Menegatti, Emanuele; Ghidoni, Stefano (Hg.): Proceedings of the 15th International Conference IAS-15: 15th International Conference on Intelligent Autonomous Systems IAS-15: Baden-Baden, Germany: Cham: Springer (Advances in Intelligent Systems and Computing)
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(2018) : Unsupervised Hump Detection for Mobile Robots Based on Kinematic Measurements and Deep-Learning Based Autoencoder In: Strand, Marcus; Dillmann, Rüdiger; Menegatti, Emanuele; Ghidoni, Stefano (Hg.): Proceedings of the 15th International Conference IAS-15: 15th International Conference on Intelligent Autonomous Systems IAS-15: Baden-Baden, Germany: Cham: Springer (Advances in Intelligent Systems and Computing)
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(2018) : Which deep artificial neural network architecture to use for anomaly detection in Mobile Robots kinematic data? In: ML4CPS – Machine Learning for Cyber Physical Systems and Industry 4.0: Proceedings of the Conference Machine Learning for Cyber Physical Systems and Industry 4.0 ML4CPS Fraunhofer IOSB: 5th Conference on Machine Learning for Cyber Physical Systems: Karlsruhe: 2018. ML4CPS – Machine Learning for Cyber Physical Systems and Industry 4.0
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Strand, Marcus; Dillmann, Rüdiger; Menegatti, Emanuele; Ghidoni, Stefano (Hg.) (2018): Proceedings of the 15th International Conference IAS-15. 15th International Conference on Intelligent Autonomous Systems IAS-15. Baden-Baden, Germany. Cham: Springer (Advances in Intelligent Systems and Computing). Online verfügbar unter www.ias-15.org
2017
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(2017): Knee-ankle-foot orthosis with powered knee for support in the elderly. In: Proceedings of the Institution of Mechanical Engineers. Part H, Journal of engineering in medicine 231 (8), S. 715-727. DOI: 10.1177/0954411917704008
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(2017) : I Believe I Can Fly—Gesture-Driven Quadrotor Control Based on a Fuzzy Control System In: Chen, Weidong; Hosoda, Koh; Menegatti, Emanuele; Shimizu, Masahiro; Wang, Hesheng (Hg.): Intelligent Autonomous Systems 14: Proceedings of the 14th International Conference IAS-14, 531: Cham: Springer International Publishing (Advances in Intelligent Systems and Computing), S. 177-184
2016
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(2016): Patient-specific bone geometry and segment inertia from MRI images for model-based analysis of pathological gait. In: Journal of biomechanics 49 (9), S. 1918-1925. DOI: 10.1016/j.jbiomech.2016.05.001
2015
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(2015): Proposition of a protocol to evaluate upper-extremity functional deficits and compensation mechanisms: application to elbow contracture. In: Journal of orthopaedic science : official journal of the Japanese Orthopaedic Association 20 (2), S. 321-330. DOI: 10.1007/s00776-014-0679-z
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(2015): Can reverse shoulder arthroplasty in post-traumatic revision surgery restore the ability to perform activities of daily living?. In: Orthopaedics & traumatology, surgery & research : OTSR 101 (2), S. 191-196. DOI: 10.1016/j.otsr.2014.12.007
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(2015): Definition of anatomical zero positions for assessing shoulder pose with 3D motion capture during bilateral abduction of the arms. In: BMC musculoskeletal disorders 16. DOI: 10.1186/s12891-015-0840-7
2014
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(2014): Motion analysis of the upper extremity in children with unilateral cerebral palsy‐an assessment of six daily tasks. In: Research in developmental disabilities 35 (11), S. 2950-2957. DOI: 10.1016/j.ridd.2014.07.021
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(2014): 3D motion capture using the HUX model for monitoring functional changes with arthroplasty in patients with degenerative osteoarthritis. In: Gait & posture 39 (1), S. 7-11. DOI: 10.1016/j.gaitpost.2013.07.111
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(2014): Motion patterns in activities of daily living: 3- year longitudinal follow-up after total shoulder arthroplasty using an optical 3D motion analysis system. In: BMC musculoskeletal disorders 15. DOI: 10.1186/1471-2474-15-244
2013
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(2013): Reverse Shoulder Prosthesis - Markerbased Measurement of the Center of Rotation Localisation. In: Gait & posture (Volume 37, Issue 1; January 2013), S. 29-31. DOI: 10.1016/j.gaitpost.2012.04.019
2012
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(2012) : Is slope walking less stable in frontal plane than level walking? (Poster) In: European Society for Movement Analysis in Adults and Children: ESMAC 2012: ESMAC 21st Annual Meeting in Stockholm: Stockholm, Sweden: 12/09/2012 to 15/09/2012
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(2012) : Autonomous Navigation of a Personal Transporter within Moving Human Groups using Reactive Control In: Lee, Sukhan; Cho, Hyungsuck; Yoon, Kwang-Joon; Lee, Jangmyung (Hg.): 12th International Conference on Intelligent Autonomous Systems IAS-12: Jeju Island, Korea: Berlin; Heidelberg: Springer-Verlag (Advances in Intelligent Systems and Computing)
2011
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(2011) : Entwurf eines translatorischen und rotatorischen Fahrreglers für autonome einachsige Personentransporter In: VDE/VDI-Gesellschaft Mikroelektronik, Mikro- und Feinwerktechnik -GMM-; Informationstechnische Gesellschaft Gesellschaft für Informatik, Bonn (Hg.): Workshop Cyber Physical Systems – Enabling Multi-Nature Systems (CPMNS): Workshop Cyber-Physical Systems - Enabling Multi-Nature Systems (CPMNS: Bremen, Germany: 23. - 24. Februar 2011
2010
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(2010) : Continuous Evaluation of Methods for Sensor Data Fusion of Video-Based Driver Assistance Systems Using Virtual Road Tests: 10th International Symposium on Advanced Vehicle Control (AVEC): AVEC 2010 : 10th International Symposium on Advanced Vehicle Control: Loughborough, UK: Aug 22, 2010 - Aug 25, 2010. Loughborough University
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(2010): Can shoulder arthroplasty restore the range of motion in activities of daily living? A prospective 3D video motion analysis study. In: Journal of shoulder and elbow surgery 19 (2 Suppl), S. 59-65. DOI: 10.1016/j.jse.2009.10.012
2009
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(2009): Three-dimensional motion analysis of compensatory movements in patients with radioulnar synostosis performing activities of daily living. In: Journal of orthopaedic science : official journal of the Japanese Orthopaedic Association 14 (3), S. 307-312. DOI: 10.1007/s00776-009-1332-0
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(2009): Proprioception in total, hemi- and reverse shoulder arthroplasty in 3D motion analyses: a prospective study. In: International orthopaedics 33 (6), S. 1641-1647. DOI: 10.1007/s00264-008-0666-0
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(2009) : Conjunct and adjunct rotation in the shoulder (Vortrag) In: Shortland, Adam: 18th Annual General Meeting of European Society of Movement Analysis in Adults and Children: ESMAC 2009: London: 17-19 September 2009. University of Heidelberg, Heidelberg, Germany: Volume 30, Supplement 2. Online verfügbar unter https://www.academia.edu/6934948/Conjunct_rotation_of_the_shoulder
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(2009): A new kinematic model of the upper extremity based on functional joint parameter determination for shoulder and elbow. In: Gait & posture 30 (4), S. 469-476. DOI: 10.1016/j.gaitpost.2009.07.111
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(2009) : Control of an autonomous personal transporter towards moving targets In: IEEE: Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO: IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO2009: Tokyo, Japan: November 23-25, 2009
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(2009) : Approximation and Segmentation of Objects in Pointclouds using Superquadrics In: IEEE: Proceedings of International Conference on Information and Automation (ICIA): International Conference on Information and Automation (ICIA): Zhuhai, China
2008
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(2008) : Functional methods for shoulder joint centre estimation based on a minimized marker set and comparison of three different computation methods for clinical feasibility (Symposiums-Vortrag) In: European Society for Movement Analysis in Adults and Children: ESMAC 2008: Antalya 2008: Antalya, Turkey: 10/09/2008 to 13/09/2008
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(2008) : Using an attributed 2D-grid for next-best-view planning on 3D environment data for an autonomous robot In: IEEE: Proceedings of International Conference on Information and Automation (ICIA): International Conference on Information and Automation (ICIA): Zhangjiajie, China
2007
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(2007): The Elastic View Graph Framework for Autonomous, Surface-based 3D-SLAM Part I: Concept and Local Layer (Schritthaltendes flächenbasiertes 3D-SLAM mit elastisch gekoppelten Teilkarten). In: at – Automatisierungstechnik 55 (3). DOI: 10.1524/auto.2007.55.3.136
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(2007): The Elastic View Graph Framework for Autonomous, Surface-based 3D-SLAM Part II: Global Layer and Experiments (Schritthaltendes flächenbasiertes 3D-SLAM mit elastisch gekoppelten Teilkarten). In: at – Automatisierungstechnik 55 (4). DOI: 10.1524/auto.2007.55.4.190
2006
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(2006) : A foveal 3D laser scanner integrating texture into range data In: Arai, Tamio; Pfeifer, Rolf; Balch, Tucker R.; Yokoi, Hiroshi (Hg.): Proceedings of the 9th International Conference on Intelligent Autonomous Systems: Intelligent Autonomous Systems 9 - IAS-9: Tokyo, Japan: March 7-9. University of Tokyo, S. 748-755
2005
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(2005) : Rotation in ball joints – a solution for the Codeman paradoxon (Vortarg), Euler is not really what the clinician wants Biomechanics of the lower limb in health desease and rehabilitation (Poster) In: European Society for Movement Analysis in Adults and Children: ESMAC 2005: Barcelona 2005: Barcelona, Spain: 15/09/2005 to 17/09/2005
2004
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(2004) : Upper Extremity – Optical marker based joint center calculation and elbow flexion angle determination (Poster) In: European Society for Movement Analysis in Adults and Children: ESMAC 2004: Warsaw 2004: Warsaw, Poland: 23/09/2004 to 25/09/2004
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(2004) : Sequential 3D-SLAM for mobile action planning In: IEEE: International Conference on Intelligent Robots and Systems (IROS): 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS): Sendai, Japan: 28 Sept.-2 Oct. 2004
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(2004) : 3D Global and Mobile Sensor Data Fusion for Mobile Platform Navigation In: IEEE: International Conference on Robotics and Automation (ICRA): 2004 IEEE International Conference on Robotics and Automation - IEEE ICRA -2004: New Orleans, USA: 26 April-1 May 2004
2003
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(2003) : A Robot Navigation Approach Based on 3D Data Fusion In: IEEE Robotics and Automation Society (RAS) and the IEEE Industrial Electronics Society: Proceedings of IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI2003.: International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI): Tokyo, Japan