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Program


 

Day 1 (07.10.2013):

09:00 - 09:15 Introduction    
09:15 - 10:15 Student talks: Novel mechanisms
   
09:15 - 09:35

Impedance Control of Variable Stiffness Actuators

Florian Petit

Deutsches Zentrum für Luft- und Raumfahrt (DLR)

09:35 - 09:55

Cooperation and Reconfiguration of Modular Service Robots

Lars Pfotzer FZI - Research Centre for Information, Technology in Karlsruhe
09:55 - 10:15

Moving ahead in unstructured terrain - A versatile, low-cost and light-weight snake robot prototype for motion optimisation

Kai Henning Koch ORB-IWR  (Optimization in Robotics & Biomechanics - Interdisciplinary Center of Scientific Computing) - University of Heidelberg
10:15 - 11:15 Coffee break and posters    
11:15 - 12:00 Invited talk I: Prof. Andre Seyfarth    
12:00 - 13:00 Student talks: HRI
   
12:00 - 12:20

Longing for Adaptation: Advantages and Challenges of Movement Synchronization in HRI

Tamara Lorenz Information-Oriented Control (ITR), TUM, General and Experimental Psychology (AEP), LMU
12:20 - 12:40 Human Supervision of Autonomous Robot Teams in Urban Search and Rescue Karen Petersen TU Darmstadt, Simulation, Systems Optimization and Robotics Group
12:40 - 13:00 A Knowledge-based Robotic System as Automated Endoscopic Camera Guidance Andreas Bihlmaier Institute for Process Control and Robotics (IPR) at the Karlsruher Instiute for Technology (KIT)
13:00 - 14:00 Lunch    
14:00 - 18:40 Labtours: TUM & DLR    
19:00 Banquet: Bräustüberl Schloss Seefeld    



Day 2 (08.10.2013):

09:00 - 10:00 Student talks: Reactive planning and collision avoidance
   
09:00 - 09:20

Distance based Dynamical System Modulation for Reactive Collision Avoidance

Matteo Saveriano  Institute of Automatic Control Engineering, (LSR), Technische Universität München
09:20 - 09:40 Variable Positional Constraints for Laplacian Trajectory Editing

Thomas Nierhoff

ITR, TU München, München; Nakamura Labs, University of Tokyo, Tokyo
09:40 - 10:00 An Efficient Approach to Calculate the Workspace and Performance Indices of Serial Manipulators using a modified Quadtree/Octree Methodology Daniel Ramirez Institute of Mechatronic Systems, Leibniz Universität Hannover
10:00 - 11:00 Coffee break and posters    
11:00 - 12:00 Student talks: Control
   
11:00 - 11:20 A method for rough terrain locomotion based on Divergent Component of Motion Johannes Englsberger Deutsches Zentrum für Luft- und Raumfahrt (DLR)
11:20 - 11:40 Optimal Control of Elastic Joints with Nonlinear Springs Mehmet Can Özparpucu Deutsches Zentrum für Luft- und Raumfahrt (DLR)
11:40 - 12:00 Link Elasticity in a Robot Arm - From a Problem to an Opportunity Jörn Malzahn Institute of Control Theory and Systems Engineering, Technische Universität Dortmund
12:00 - 13:00 VDI special session    
13:00 - 14:00 Lunch    
14:00 - 14:45 Invited talk II: Prof. Bernhard Schölkopf    
14:45 - 15:45 Coffee break and posters    
15:45 - 16:45 DFG special session: Funding Schemes for Young Researchers
Katja Fettelschoß  
16:45 - 17:45 Student talks: Learning and Teaching
   
16:45 - 17:05 A Bootstrapped Gradient Temporal-Difference Learning Algorithm Dominik Meyer Lehrstuhl für Datenverarbeitung, EI, TUM
17:05 - 17:25 Learning the Body Schema of Humanoid Robots Stefan Ulbrich High Performance Humanoid Technologies Lab (H²T); Karlsruhe Institute of Technology (KIT)
17:25 - 17:45 Kinesthetic teaching for model-free flexible trajectory generation in confined spaces Christian Emmerich  Research Institute for Cognition and Robotic (CoR-Lab), Bielefeld University
18:00 End    



Invited Talks:

  1. Prof. Andre Seyfarth, Locomotion Laboratory, Institute of Sports Science, TU Darmstadt

    Titel: Biomechanische Modelle für die menschliche und humanoide Fortbewegung.
    Abstract: Biologische Bewegungen lassen sich oft mit vereinfachten Bewegungsmodellen (Template Models) beschreiben, obgleich die Bewegungen hochkomplex und sehr anpassungsfähig sind. Bei der Nachbildung dieser Bewegungen in der Technik (z.B. humanoide oder bio-inspirierte Robotik, Prothetik und Orthetik) treten vielfältige Phänomene auf, welche einer getreuen Nachbildung der Originaldynamik biologischer Systeme im Weg zu stehen scheinen. Neue Ansätze zur übergreifenden Analyse und Synthese von technischen und biologischen Bewegungssystemen können helfen, um ein schrittweise besseres Verständnis der Organisation von Bewegungen nach dem Vorbild der Natur zu erlangen.
  2. Prof. Bernhard Schölkopf, Max Planck Institute for Intelligent Systems (MPI), Tübingen
    Titel: Causal inference and anticausal learning
    Abstract: Causal inference is an intriguing field examining causal structures by testing their statistical footprints. The talk introduces the main ideas of causal inference from the point of view of machine learning, and discusses implications of underlying causal structures for popular machine learning scenarios such as covariate shift and semi-supervised learning. It argues that causal knowledge may facilitate some approaches for a given problem, and rule out others. 

 

VDI Special Session:

  1. Dr. Paolo Ferrara, FerRobotics Compliant Robot Technology GmbH, "Robot Handcraft© - contact sensitive robotic processes"
  2. Simon Klumpp, Daimler AG, "Robot farming with Sensitive Light Weight Robots"
  3. Dr. Patrick Helmer, ForceDimension, "Making more sense of touch"

 

Poster Session:

Human Walking Imitation based on Quadratic Programming  Kai Hu Institute of Robotics and Mechanics, German Aerospace Center (DLR); Institute of Automatic Control Engineering, (LSR), Technische Universität München
Asymptotically stable limit cycles generation by using nullspace decomposition and energy regulation Gainluca Garofalo Institute of Robotics and Mechatronics, German Aerospace Center (DLR)
Towards Statistically-Based Feature and Electrode Selection for Emotion Recognition from EEG Robert Jenke Institute of Automatic Control Engineering, Technische Universität München
 Human Sit-to-Stand Modelling using Optimal Feedback Control  Milad Geravand  Institute of Automatic Control Engineering, Technische Universität München
A Continuous Grasp Representation for Humanoid Robots based on Virtual Springs Martin Do H2T Lab, Institute for Anthropomatics, Karlsruhe Institute of Technology (KIT)
A Comparison of Template Matching Methods for Action Recognition Laith Alkurdi Institute of Automatic Control Engineering, Technische Universität München
Interaction Force Decomposition Maximizing Compensating Forces under Physical Work Constraints Alexander Schmidts Institute of Automatic Control Engineering, Technische Universität München
Collision Analysis and Safety Evaluation using a Collision Model for Blunt Robot-Human Impacts Nico Mansfeld Institute of Robotics and Mechatronics, German Aerospace Center (DLR)
Solving Manipulation Tasks with Object-Centered Hybrid Reasoning Daniel Leidner Institute of Robotics and Mechatronics, German Aerospace Center (DLR)
Correlation between Constrained and Unconstrained Human-Robot Collisions Roland Behrens

Fraunhofer IFF, Magdeburg

A complementary sensor setup for touch and proximity detection in human robot interaction  Markus Fritsche

Fraunhofer Institute for Factory operation and Automation IFF, Magdeburg

Sequential Monte Carlo in the Observation of Robotic Assembly Tasks Korbinian Nottensteiner

Institute of Robotics and Mechatronics, German Aerospace Center (DLR)

Extended Independent Contact Regions for Grasping Applications

Bao-Anh Dang-Vu

Institute of Robotics and Mechatronics, German Aerospace Center (DLR)

Generating Abstract Semantic Maps of Indoor Environments Using Rule-Based Context Knowledge

Ziyuan Liu

Institute of Automatic Control Engineering, Technische Universität München and Siemens AG, Corporate Technology

Grasping on the move: A generic arm-base coordinated grasping pipeline for mobile manipulation

Dong Chen

Institute of Automatic Control Engineering, Technische Universität München and Siemens AG, Corporate Technology

Generating Sensor-based Task-consistent Motion under Uncertainty by Maximizing Probabilistic Connectivity

Arne Sieverling

Robotics & Biology Lab at TU Berlin

The Dexterous Robotic Hand DLR-HIT II

Zhaopeng Chen

Institute of Robotics and Mechatronics, German Aerospace Center (DLR)

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