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Service robotics has recently been a growing field as well in research as in industrial contexts. It offers adaptive robotic systems that allow direct human-robot interaction and cooperation. However these systems are often only used inside research labs. In this paper we present the BratWurst Bot, a service robotic system that demonstrates the combination of many different robotic skills to create...
In this work, the ReApp Engineering Workbench and its underlying semantically enriched app models are presented. The usage of a model, which describes the apps functionality, interfaces and other attributes, allows the utilization of engineering tools for code generation and automated testing. Further, it ensures the compatibility of the generated interfaces, which in turn enhances the reusability...
Designing a walking robot for a specified task is a complex problem. It requires numerous calculations and evaluations to find the desired shape and topology to perform correctly. The abstraction of such a task is a multi-dimensional, multi-goal optimization problem. This paper proposes a bio-inspired solution to optimize such a kinematic model: A genetic algorithm aims to free the designer from the...
In order to perform useful tasks, a service robot needs to manipulate objects in its environment. In this paper, we propose a method for experimental evaluation of the suitability of a robotic hand for grasping tasks in service robotics. The method is applied to the Schunk 5-Finger Gripping Hand, which is a mechatronic gripper designed for service robots. During evaluation, it is shown, that it is...
A key skill for autonomous exploration and inspection missions is the ability to find safe and traversable paths within previously unknown environments. We present an approach for mapping typical environments encountered by autonomous planetary exploration robots, a pre-interpreted multi-resolution 3-D environment model generated from point cloud data, and a hybrid planner for basically any kind of...
Robots are built to assist people. Up to now the circle of people benefiting is still rather small because operating a robot is a very difficult task. To enable untrained people to operate a robot, an intuitive user interface has to be provided. Besides enlarging the number of people which are actually able to operate the robot, the operators are less burdened by controlling the robot and therefore...
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