Advances in Robotics Research: Theory, Implementation, Application

Kinematic and Dynamic Modelling.- Joint Dominance Coefficients: A Sensitivity-Based Measure for Ranking Robotic Degrees of Freedom.- Learning Kinematics from Direct Self-Observation Using Nearest-Neighbor Methods.- Guidelines for Low Mass and Low Inertia Dynamic Balancing of Mechanisms and Robotics.- Motion Generation.- Probability-Based Robot Search Paths.- Mapping and Navigation of Mobile Robots in Natural Environments.- Sensor-Based Online Planning of Time-Optimized Paths in Dynamic Environments.- Sensor Integration.- Analysis of Strain Transfer to FBG’s for Sensorized Telerobotic End-Effector Applications.- Intuitive Collision Avoidance of Robots Using Charge Generated Virtual Force Fields.- 6D Pose Uncertainty in Robotic Perception.- Robot Vision.- 3D Shape Detection for Mobile Robot Learning.- 3D Collision Detection for Industrial Robots and Unknown Obstacles Using Multiple Depth Images.- Reducing Motion Artifacts in Mobile Vision Systems via Dynamic Filtering of Image Sequences.- Robot Programming.- A Software Architecture for Model-Based Programming of Robot Systems.- Intuitive Robot Programming of Spatial Control Loops with Linear Movements.- Model-Based Programming “by Demonstration”– Fast Setup of Robot Systems (ProDemo).- Humanoid Robots.- New Concept for Wrist Design of the Humanoid Robot ARMAR.- Biological Motivated Control Architecture and Mechatronics for a Human-Like Robot.- Using the Torso to Compensate for Non-Minimum Phase Behaviour in ZMP Bipedal Walking.- Grasping.- Object-Specific Grasp Maps for Use in Planning Manipulation Actions.- Vision Controlled Grasping by Means of an Intelligent Robot Hand.- Learning an Object-Grasp Relation for Silhouette-Based Grasp Planning.- Efficient Parallel Random Sample Matching for Pose Estimation,Localization, and Related Problems.- Medical Robotics.- Automated Robot Assisted Fracture Reduction.- Path Planning for Robot-Guided Endoscopes in Deformable Environments.- Autonomous Helicopters.- An Unmanned Helicopter for Autonomous Flights in Urban Terrain.- Interaction of Altitude Control and Waypoint Navigation of a 4 Rotor Helicopter.- Cooperative Autonomous Helicopters for Load Transportation and Environment Perception.- Applications.- Robot on the Leash — An Intuitive Inexpensive Interface for Robots Using the Nintendo Wii Remote.- Robot Basketball: Ball Dribbling — A Modified Juggling Task.- Research on Exoskeletons at the TU Berlin.- Hard- and Software Architecture of a Small Autonomous Underwater Vehicle for Environmental Monitoring Tasks.

The German Workshop on Robotics is a convention of roboticists from academia and industry working on mathematical and algorithmic foundations of robotics, on the design and analysis of robotic systems as well as on robotic applications. Selected contributions from researchers in German-speaking countries as well as from the international robotics community compose this volume. The papers are organized in ten scientific tracks: Kinematic and Dynamic Modeling, Motion Generation, Sensor Integration, Robot Vision, Robot Programming, Humanoid Robots, Grasping, Medical Robotics, Autonomous Helicopters, and Robot Applications.
Due to an extensive review and discussion process, this collection of scientific contributions is of very high caliber and promises to strongly influence future robotic research activities.

Proceedings of first International German Workshop on Robotics GWR 2009