Cooperating robot with visual and tactile skills

The goal of the project was the design of a robot able to work in unstructured environments with a human operator. One benchmark problem chosen for this robot was to clear dishes from the trays in the canteen and put them into a dishwasher. Another benchmark test was aimed at the sorting sorting of parcels. The project includes the development of a tactile gripper, controlled by a neural network, as well as safety and interface concepts for the cooperation between operator and robot. A vision system using software and hardware tools to analyze complex 3D scenes and a fast, precise range-image sensor to capture 3D images are presented.<<ETX>>

[1]  Albert-Jan Baerveldt.  Singularisation of parcels with a sensor-based robot-system , 1991, Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91.

[2]  Ramesh C. Jain,et al.  Illumination independent change detection for real world image sequences , 1989, Comput. Vis. Graph. Image Process..

[3]  Richard O. Duda,et al.  Use of the Hough transformation to detect lines and curves in pictures , 1972, CACM.

[4]  Anton Gunzinger,et al.  The synchronous dataflow machine: a computer architecture for real time image processing , 1990, [1990] Proceedings. 10th International Conference on Pattern Recognition.

[5]  G. Schweitzer,et al.  Application of neural networks on robot grippers , 1990, 1990 IJCNN International Joint Conference on Neural Networks.

[6]  A.-J. Baerveldt,et al.  A Runaway Protection System for Robots Based on Acceleration Measurements , 1991 .

[7]  Hans-Kaspar Scherrer,et al.  Intelligent Robot Gripper for General Purposes , 1991, ISER.

[8]  John F. Canny,et al.  A Computational Approach to Edge Detection , 1986, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[9]  Markus Ilg,et al.  Gripping information for a robot from silhouettes , 1991, Proceedings. 1991 IEEE Computer Society Conference on Computer Vision and Pattern Recognition.

[10]  Anil K. Jain,et al.  Evidence-Based Recognition of 3-D Objects , 1988, IEEE Trans. Pattern Anal. Mach. Intell..

[11]  G. Schweitzer,et al.  The robot as an intelligent interactive machine , 1991 .

[12]  F. Ade,et al.  Location of address labels on postal parcels using neural networks based on multifeatures , 1991, Proceedings IECON '91: 1991 International Conference on Industrial Electronics, Control and Instrumentation.