Publications
2005
I Iossifidis; G Lawitzky; S Knoop; R Zöllner
Towards benchmarking of domestic robotic assistants Book
2005, ISSN: 16107438.
Abstract | BibTeX | Tags: Autonomous robotics, benchmarking, human robot collaboration, man machine interaction
@book{Iossifidis2005b,
title = {Towards benchmarking of domestic robotic assistants},
author = {I Iossifidis and G Lawitzky and S Knoop and R Zöllner},
issn = {16107438},
year = {2005},
date = {2005-01-01},
booktitle = {Springer Tracts in Advanced Robotics},
volume = {14},
abstract = {As service robotics research advances rapidly, availability of objective, reproducible test specifications and evaluation criteria and also of benchmarking is more and more felt to be desirable in the community. As a first step towards benchmarking, in this paper we propose a formalization of tests - exemplified for domestic grasp & place tasks. The underlying philosophy of our approach is to confront the robot system in a black-box manner with requirements of a "rational customer", and characterize the performance of the system in an objective way by the outcomes of a test-suite tailored to this scenario. A formalized single test description consists of a clear and reproducible specification of the robot's task and the full context on the one hand, and a number of figures which objectively characterize the test result on the other hand. We illustrate this methodology for the domestic assistance scenario. textcopyright Springer-Verlag Berlin Heidelberg 2005.},
keywords = {Autonomous robotics, benchmarking, human robot collaboration, man machine interaction},
pubstate = {published},
tppubtype = {book}
}
I Iossifidis; A Steinhage
Behavior generation for Anthropomorphic robots by means of dynamical systems Book
2005, ISSN: 16107438.
Abstract | BibTeX | Tags: Autonomous robotics, behavior generation, dynamical systems, movement model
@book{Iossifidis2005c,
title = {Behavior generation for Anthropomorphic robots by means of dynamical systems},
author = {I Iossifidis and A Steinhage},
issn = {16107438},
year = {2005},
date = {2005-01-01},
booktitle = {Springer Tracts in Advanced Robotics},
volume = {14},
abstract = {This article describes the current state of our research on anthropomorphic robots. Our aim is to make the reader familiar with the two basic principles our work is based on: anthropomorphism and dynamics. The principle of anthropomorphism means a restriction to human-like robots which use version, audition and touch as their only sensors so that natural man-machine interaction is possible. The principle of dynamics stands for the mathematical framework based on which our robots generate their behavior. Both principles have their root in the idea that concepts of biological behavior and information processing can be exploited to control technical systems. textcopyright Springer-Verlag Berlin Heidelberg 2005.},
keywords = {Autonomous robotics, behavior generation, dynamical systems, movement model},
pubstate = {published},
tppubtype = {book}
}
2004
Erwin Prassler; Gisbert Lawitzky; Andreas Stopp; Gerhard Grunwald; Martin Ħägele; Rüdiger Đillmann; Ioannis Iossifidis
Advances in Ħuman Robot Interaction Book
Springer Press, 2004.
Abstract | Links | BibTeX | Tags: Autonomous robotics, behavior generation, dynamical systems, movement model
@book{Prassler2004,
title = {Advances in Ħuman Robot Interaction},
author = {Erwin Prassler and Gisbert Lawitzky and Andreas Stopp and Gerhard Grunwald and Martin Ħägele and Rüdiger Đillmann and Ioannis Iossifidis},
editor = {Erwin Prassler and Gisbert Lawitzky and Andreas Stopp and Gerhard Grunwald and Martin Ħägele and Rüdiger Đillmann and Ioannis Iossifidis},
url = {http://www.springeronline.com/sgw/cda/frontpage/0,11855,5-102-22-35029562-0,00.html?changeHeader=true},
year = {2004},
date = {2004-01-01},
booktitle = {Advances in Ħuman Robot Interaction},
volume = {14/2004},
number = {ISBN: 3-540-23211-7},
pages = {414},
publisher = {Springer Press},
series = {Springer Tracts in Advanced Robotics STAR},
abstract = {Human Robot Interaction and Cooperation
Motion Coordination
Multi-Modal Robot Interfaces
Physical Interaction between Humans and Robots
Robot Learning
Visual Instruction of Robots},
keywords = {Autonomous robotics, behavior generation, dynamical systems, movement model},
pubstate = {published},
tppubtype = {book}
}
Motion Coordination
Multi-Modal Robot Interfaces
Physical Interaction between Humans and Robots
Robot Learning
Visual Instruction of Robots
Ioannis Iossifidis; Gregor Schöner
Attractor dynamics approach for autonomous collision-free path generation in 3d-space for an 7 dof robot arm Inproceedings
In: Proceedings of the ROBOTIK 2004, Leistungsstand - Anwendungen - Visionen - Trends, number 1841 in VDI-Berichte, pp. 815–822, VDI/VDE VDI Verlag, München, Germany, 2004.
BibTeX | Tags: Autonomous robotics, collision avoidance, dynamical systems, Inverse kinematics, movement model
@inproceedings{Iossifidis2004a,
title = {Attractor dynamics approach for autonomous collision-free path generation in 3d-space for an 7 dof robot arm},
author = {Ioannis Iossifidis and Gregor Schöner},
year = {2004},
date = {2004-01-01},
booktitle = {Proceedings of the ROBOTIK 2004, Leistungsstand - Anwendungen - Visionen - Trends, number 1841 in VDI-Berichte},
pages = {815--822},
publisher = {VDI Verlag},
address = {München, Germany},
organization = {VDI/VDE},
keywords = {Autonomous robotics, collision avoidance, dynamical systems, Inverse kinematics, movement model},
pubstate = {published},
tppubtype = {inproceedings}
}
Ioannis Iossifidis; Carsten Bruckhoff; Christoph Theis; Claudia Grote; Christian Faubel; Gregor Schöner
A Cooperative Robot Assistant CoRA For Human Environments Incollection
In: Prassler, Erwin; Lawitzky, Gisbert; Stopp, Andreas; Grunwald, Gerhard; Hägele, Martin; Dillmann, Rüdiger; Iossifidis, Ioannis (Ed.): Advances in Human Robot Interaction, vol. 14/2004, no. ISBN: 3-540-23211-7,, pp. 385–401, Springer Press, 2004, ISBN: 3-540-23211-7,.
Abstract | Links | BibTeX | Tags: Autonomous robotics, behavior generation, dynamical systems, movement model
@incollection{Iossifidis2004d,
title = {A Cooperative Robot Assistant CoRA For Human Environments},
author = {Ioannis Iossifidis and Carsten Bruckhoff and Christoph Theis and Claudia Grote and Christian Faubel and Gregor Schöner},
editor = {Erwin Prassler and Gisbert Lawitzky and Andreas Stopp and Gerhard Grunwald and Martin Hägele and Rüdiger Dillmann and Ioannis Iossifidis},
url = {http://www.springerlink.com/index/91656F7B99CD2C2C},
doi = {10.1007/b97960},
isbn = {3-540-23211-7,},
year = {2004},
date = {2004-01-01},
booktitle = {Advances in Human Robot Interaction},
volume = {14/2004},
number = {ISBN: 3-540-23211-7,},
pages = {385--401},
publisher = {Springer Press},
chapter = {7},
series = {Springer Tracts in Advanced Robotics STAR},
abstract = {CoRA is a robotic assistant whose task is to collaborate with a human operator on simple manipulation or handling tasks. Its sensory channels comprising vision, audition, haptics, and force sensing are used to extract perceptual information about speech, gestures and gaze of the operator, and object recognition. The anthropomorphic robot arm makes goal-directed movements to pick up and hand-over objects. The human operator may mechanically interact with the arm by pushing it away (haptics) or by taking an object out of the robotrsquos gripper (force sensing). The design objective has been to exploit the human operatorrsquos intuition by modeling the mechanical structure, the senses, and the behaviors of the assistant on human anatomy, human perception, and human motor behavior.},
keywords = {Autonomous robotics, behavior generation, dynamical systems, movement model},
pubstate = {published},
tppubtype = {incollection}
}
Ioannis Iossifidis; Gregor Schöner; Gregor Schoner
In: Proc. IEEE International Conference on Robotics and Automation ICRA '04, pp. 4295––4300 Vol.5, 2004, ISSN: 1050-4729.
Abstract | Links | BibTeX | Tags: autonomous reaching, collision avoidance, end effector shift, end effectors, man machine interaction, manipulator dynamics, obstacle avoidance, robotic assistant, time varying environment, time-varying systems
@inproceedings{Iossifidis2004b,
title = {Autonomous reaching and obstacle avoidance with the anthropomorphic arm of a robotic assistant using the attractor dynamics approach},
author = {Ioannis Iossifidis and Gregor Schöner and Gregor Schoner},
doi = {10.1109/ROBOT.2004.1302393},
issn = {1050-4729},
year = {2004},
date = {2004-01-01},
booktitle = {Proc. IEEE International Conference on Robotics and Automation ICRA '04},
volume = {5},
pages = {4295----4300 Vol.5},
abstract = {To enable a robotic assistant to autonomously reach for and transport objects while avoiding obstacles we have generalized the attractor dynamics approach established for vehicles to trajectory formation in robot arms. This approach is able to deal with the time-varying environments that occur when a human operator moves in a shared workspace. Stable fixed points (attractors) for the heading direction of the end-effector shift during movement and are being tracked by the system. This enables the attractor dynamics approach to avoid the spurious states that hamper potential field methods. Separating planning and control computationally, the approach is also simpler to implement. The stability properties of the movement plan make it possible to deal with fluctuating and imprecise sensory information. We implement this approach on a seven degree of freedom anthropomorphic arm reaching for objects on a working surface. We use an exact solution of the inverse kinematics, which enables us to steer the spatial position of the elbow clear of obstacles. The straight-line trajectories of the end-effector that emerge as long as the arm is far from obstacles make the movement goals of the robotic assistant predictable for the human operator, improving man-machine interaction.},
keywords = {autonomous reaching, collision avoidance, end effector shift, end effectors, man machine interaction, manipulator dynamics, obstacle avoidance, robotic assistant, time varying environment, time-varying systems},
pubstate = {published},
tppubtype = {inproceedings}
}
Ioannis Iossifidis; Gisbert Lawitzky; Stephan Knoop; Raoul Zöllner
Towards Benchmarking of Domestic Robotic Assistants Incollection
In: Prassler, Erwin; Lawitzky, Gisbert; Stopp, Andreas; Grunwald, Gerhard; Hägele, Martin; Dillmann, Rüdiger; Iossifidis, Ioannis (Ed.): Advances in Human Robot Interaction, vol. 14/2004, no. ISBN: 3-540-23211-7,, pp. 403–414, Springer Press, 2004.
Abstract | Links | BibTeX | Tags: Autonomous robotics, benchmarking, human robot collaboration, man machine interaction
@incollection{Iossifidis2004c,
title = {Towards Benchmarking of Domestic Robotic Assistants},
author = {Ioannis Iossifidis and Gisbert Lawitzky and Stephan Knoop and Raoul Zöllner},
editor = {Erwin Prassler and Gisbert Lawitzky and Andreas Stopp and Gerhard Grunwald and Martin Hägele and Rüdiger Dillmann and Ioannis Iossifidis},
url = {http://www.springerlink.com/index/AB4F63B9DADFE299},
year = {2004},
date = {2004-01-01},
booktitle = {Advances in Human Robot Interaction},
volume = {14/2004},
number = {ISBN: 3-540-23211-7,},
pages = {403--414},
publisher = {Springer Press},
chapter = {7},
series = {Springer Tracts in Advanced Robotics STAR},
abstract = {As service robotics research advances rapidly, availability of objective, reproducible test specifications and evaluation criteria and also of benchmarking is more and more felt to be desirable in the community. As a first step towards benchmarking, in this paper we propose a formalization of tests - exemplified for domestic grasp&place tasks. The underlying philosophy of our approach is to confront the robot system in a black-box manner with requirements of a ldquorational customerrdquo, and characterize the performance of the system in an objective way by the outcomes of a test-suite tailored to this scenario. A formalized single test description consists of a clear and reproducible specification of the robotrsquos task and the full context on the one hand, and a number of figures which objectively characterize the test result on the other hand. We illustrate this methodology for the domestic assistance scenario.},
keywords = {Autonomous robotics, benchmarking, human robot collaboration, man machine interaction},
pubstate = {published},
tppubtype = {incollection}
}
Ioannis Iossifidis; Axel Steinhage
Behavior Generation For Anthropomorphic Robots by Means of Dynamical Systems Incollection
In: Prassler, Erwin; Lawitzky, Gisbert; Stopp, Andreas; Grunwald, Gerhard; Hägele, Martin; Dillmann, Rüdiger; Iossifidis, Ioannis (Ed.): Advances in Human Robot Interaction, vol. 14/2004, no. ISBN: 3-540-23211-7,, pp. 269–300, Springer Press, 2004, ISBN: 3-540-23211-7,.
Abstract | Links | BibTeX | Tags: Autonomous robotics, behavior generation, dynamical systems, movement model
@incollection{Iossifidis2004e,
title = {Behavior Generation For Anthropomorphic Robots by Means of Dynamical Systems},
author = {Ioannis Iossifidis and Axel Steinhage},
editor = {Erwin Prassler and Gisbert Lawitzky and Andreas Stopp and Gerhard Grunwald and Martin Hägele and Rüdiger Dillmann and Ioannis Iossifidis},
url = {http://www.springerlink.com/index/96DD6AB012CF71E7},
doi = {0.1007/b97960},
isbn = {3-540-23211-7,},
year = {2004},
date = {2004-01-01},
booktitle = {Advances in Human Robot Interaction},
volume = {14/2004},
number = {ISBN: 3-540-23211-7,},
pages = {269--300},
publisher = {Springer Press},
chapter = {6},
series = {Springer Tracts in Advanced Robotics STAR},
abstract = {This article describes the current state of our research on anthropomorphic robots. Our aim is to make the reader familiar with the two basic principles our work is based on: anthropomorphism and dynamics. The principle of anthropomorphism means a restriction to human-like robots which use version, audition and touch as their only sensors so that natural man-machine interaction is possible. The principle of dynamics stands for the mathematical framework based on which our robots generate their behavior. Both principles have their root in the idea that concepts of biological behavior and information processing can be exploited to control technical systems.},
keywords = {Autonomous robotics, behavior generation, dynamical systems, movement model},
pubstate = {published},
tppubtype = {incollection}
}
Erwin Prassler; Gisbert Lawitzky; Andreas Stopp; Gerhard Grunwald; Martin Hägele; Rüdiger Dillmann; Ioannis Iossifidis
Advances in Human Robot Interaction Book
Springer Press, 2004.
Abstract | Links | BibTeX | Tags: Autonomous robotics, behavior generation, dynamical systems, Inverse kinematics, movement model, redundant robot arm
@book{Prassler2004b,
title = {Advances in Human Robot Interaction},
author = {Erwin Prassler and Gisbert Lawitzky and Andreas Stopp and Gerhard Grunwald and Martin Hägele and Rüdiger Dillmann and Ioannis Iossifidis},
editor = {Erwin Prassler and Gisbert Lawitzky and Andreas Stopp and Gerhard Grunwald and Martin Hägele and Rüdiger Dillmann and Ioannis Iossifidis},
url = {http://www.springeronline.com/sgw/cda/frontpage/0,11855,5-102-22-35029562-0,00.html?changeHeader=true},
year = {2004},
date = {2004-01-01},
booktitle = {Advances in Human Robot Interaction},
volume = {14/2004},
pages = {414},
publisher = {Springer Press},
series = {Springer Tracts in Advanced Robotics STAR},
abstract = {Human Robot Interaction and Cooperation Motion Coordination Multi-Modal Robot Interfaces Physical Interaction between Humans and Robots Robot Learning Visual Instruction of Robots},
keywords = {Autonomous robotics, behavior generation, dynamical systems, Inverse kinematics, movement model, redundant robot arm},
pubstate = {published},
tppubtype = {book}
}
Erwin Prassler; Gisbert Lawitzky; Andreas Stopp; Gerhard Grunwald; Martin Hägele; Rüdiger Dillmann; Ioannis Iossifidis
Advances in Human Robot Interaction (Springer Tracts in Advanced Robotics) Book
Springer, 2004, ISBN: 3540232117.
Links | BibTeX | Tags: Autonomous robotics, behavior generation, dynamical systems, Inverse kinematics, movement model, redundant robot arm
@book{Prassler2004c,
title = {Advances in Human Robot Interaction (Springer Tracts in Advanced Robotics)},
author = {Erwin Prassler and Gisbert Lawitzky and Andreas Stopp and Gerhard Grunwald and Martin Hägele and Rüdiger Dillmann and Ioannis Iossifidis},
url = {http://www.amazon.co.uk/Advances-Interaction-Springer-Advanced-Robotics/dp/3540232117},
isbn = {3540232117},
year = {2004},
date = {2004-01-01},
pages = {414},
publisher = {Springer},
keywords = {Autonomous robotics, behavior generation, dynamical systems, Inverse kinematics, movement model, redundant robot arm},
pubstate = {published},
tppubtype = {book}
}
2003
Ioannis Iossifidis; Christoph Theis; Claudia Grote; Christian Faubel; Gregor Schoner
Anthropomorphism as a pervasive design concept for a robotic assistant Inproceedings
In: Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003), pp. 3465––3472 vol.3, 2003.
Abstract | Links | BibTeX | Tags: anthropomorphic robot arm, anthropomorphism, force sensing, grippers, human anatomy, human motor behavior, human operators intuition, human perception, man-machine systems, manipulators, mechanical structure modeling, object recognition, operators gaze, operators gesture, pervasive design, robot vision, robotic assistant, robots gripper, sensory channels, user modelling
@inproceedings{Iossifidis2003,
title = {Anthropomorphism as a pervasive design concept for a robotic assistant},
author = {Ioannis Iossifidis and Christoph Theis and Claudia Grote and Christian Faubel and Gregor Schoner},
doi = {10.1109/IROS.2003.1249692},
year = {2003},
date = {2003-01-01},
booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003)},
volume = {4},
pages = {3465----3472 vol.3},
abstract = {CORA is a robotic assistant whose task is to collaborate with a human operator on simple manipulation or handling tasks. Its sensory channels comprising vision, audition, haptics, and force sensing are used to extract perceptual information about speech, gestures and gaze of the operator, and object recognition. The anthropomorphic robot arm makes goal-directed movements to pick up and hand over objects. The human operator may mechanically interact with the arm by pushing it away (haptics) or by taking an object out of the robot's gripper (force sensing). The design objective has been to exploit the human operator's intuition by modeling the mechanical structure, the senses, and the behaviors of the assistant on human anatomy, human perception, and human motor behavior.},
keywords = {anthropomorphic robot arm, anthropomorphism, force sensing, grippers, human anatomy, human motor behavior, human operators intuition, human perception, man-machine systems, manipulators, mechanical structure modeling, object recognition, operators gaze, operators gesture, pervasive design, robot vision, robotic assistant, robots gripper, sensory channels, user modelling},
pubstate = {published},
tppubtype = {inproceedings}
}
I Iossifidis; C Theis; C Grote; C Faubel; G Schöner
Anthropomorphism as a pervasive design concept for a robotic assistant Inproceedings
In: Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453), pp. 3465–3472, IEEE, 2003, ISBN: 0-7803-7860-1.
Abstract | Links | BibTeX | Tags: anthropomorphic robot arm, anthropomorphism, force sensing, grippers, human anatomy, human motor behavior, human operators intuition, human perception, man-machine systems, manipulators, mechanical structure modeling, object recognition, operators gaze, operators gesture, pervasive design, robot vision, robotic assistant, robots gripper, sensory channels, user modelling
@inproceedings{Iossifidis2003b,
title = {Anthropomorphism as a pervasive design concept for a robotic assistant},
author = {I Iossifidis and C Theis and C Grote and C Faubel and G Schöner},
doi = {10.1109/IROS.2003.1249692},
isbn = {0-7803-7860-1},
year = {2003},
date = {2003-01-01},
booktitle = {Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)},
volume = {4},
pages = {3465--3472},
publisher = {IEEE},
abstract = {CORA is a robotic assistant whose task is to collaborate with a human operator on simple manipulation or handling tasks. Its sensory channels comprising vision, audition, haptics, and force sensing are used to extract perceptual information about speech, gestures and gaze of the operator, and object recognition. The anthropomorphic robot arm makes goal-directed movements to pick up and hand over objects. The human operator may mechanically interact with the arm by pushing it away (haptics) or by taking an object out of the robot's gripper (force sensing). The design objective has been to exploit the human operator's intuition by modeling the mechanical structure, the senses, and the behaviors of the assistant on human anatomy, human perception, and human motor behavior.},
keywords = {anthropomorphic robot arm, anthropomorphism, force sensing, grippers, human anatomy, human motor behavior, human operators intuition, human perception, man-machine systems, manipulators, mechanical structure modeling, object recognition, operators gaze, operators gesture, pervasive design, robot vision, robotic assistant, robots gripper, sensory channels, user modelling},
pubstate = {published},
tppubtype = {inproceedings}
}
2002
I Iossifidis; A Steinhage
Controlling a redundant robot arm by means of a haptic sensor Book
2002, ISSN: 00835560.
Abstract | BibTeX | Tags: Artificial skin, direct physical interaction, haptic interface, Inverse kinematics, Man-machine-interaction, Robot manipulator control
@book{Iossifidis2002d,
title = {Controlling a redundant robot arm by means of a haptic sensor},
author = {I Iossifidis and A Steinhage},
issn = {00835560},
year = {2002},
date = {2002-01-01},
booktitle = {VDI Berichte},
number = {1679},
abstract = {This paper describes the hardware- and software-implementation of a touch-sensitive device on the manipulator arm of our anthropomorphic robot CORA. This so-called artificial skin is used to control the configuration of the manipulator while the robot is grasping for objects. By exploiting redundant degrees of freedom, this operator-induced movement constraint can be accounted for without changing the configuration of the end-effector.},
keywords = {Artificial skin, direct physical interaction, haptic interface, Inverse kinematics, Man-machine-interaction, Robot manipulator control},
pubstate = {published},
tppubtype = {book}
}
Ioannis Iossifidis; Axel Steinhage
Controlling a Redundant Robot Arm by Means of a Haptic Sensor Inproceedings
In: ROBOTIK 2002, Leistungsstand - Anwendungen - Visionen, pp. 269–274, VDI/VDE VDI Verlag, Ludwigsburg, Germany, 2002.
Abstract | BibTeX | Tags: Artificial skin, Inverse kinematics, Man-machine-interaction, Robot manipulator control
@inproceedings{Iossifidis2002b,
title = {Controlling a Redundant Robot Arm by Means of a Haptic Sensor},
author = {Ioannis Iossifidis and Axel Steinhage},
year = {2002},
date = {2002-01-01},
booktitle = {ROBOTIK 2002, Leistungsstand - Anwendungen - Visionen},
pages = {269--274},
publisher = {VDI Verlag},
address = {Ludwigsburg, Germany},
organization = {VDI/VDE},
series = {VDI-Berichte 1679},
abstract = {Abstract This paper describes the hardware- and software-implementation of a touch-sensitive device on the manipulator arm of our anthropomorphic robot CORA. This so-called artificial skin is used to control the configuration of the manipulator while the robot is grasping for objects. By exploiting redundant degrees of freedom, this operator-induced movement constraint can be accounted for without changing the configuration of the end-effector.},
keywords = {Artificial skin, Inverse kinematics, Man-machine-interaction, Robot manipulator control},
pubstate = {published},
tppubtype = {inproceedings}
}
Ioannis. Iossifidis; Carsten Bruckhoff; Christoph Theis; Claudia Grote; Christian Faubel; Gregor Schoner
CORA: An anthropomorphic robot assistant for human environment Inproceedings
In: Proc. 11th IEEE International Workshop on Robot and Human Interactive Communication, pp. 392–398, 2002.
Abstract | Links | BibTeX | Tags: assembling, Cooperative Robot Assistant, CORA, gesture recognition, haptic interfaces, household, industrial assembly, manipulators, object recognition, robot assistant, robots, speech recognition
@inproceedings{Iossifidis2002a,
title = {CORA: An anthropomorphic robot assistant for human environment},
author = {Ioannis. Iossifidis and Carsten Bruckhoff and Christoph Theis and Claudia Grote and Christian Faubel and Gregor Schoner},
doi = {10.1109/ROMAN.2002.1045654},
year = {2002},
date = {2002-01-01},
booktitle = {Proc. 11th IEEE International Workshop on Robot and Human Interactive Communication},
pages = {392--398},
abstract = {We describe the general concept, system architecture, hardware, and the behavioral abilities of CORA (Cooperative Robot Assistant), an autonomous nonmobile robot assistant. Outgoing from our basic assumption that the behavior to perform determines the internal and external structure of the behaving system, we have designed CORA anthropomorphic to allow for humanlike behavioral strategies in solving complex tasks. Although CORA was built as a prototype of a service robot system to assist a human partner in industrial assembly tasks, we will show that CORA's behavioral abilities are also conferrable in a household environment. After the description of the hardware platform and the basic concepts of our approach, we present some experimental results by means of an assembly task.},
keywords = {assembling, Cooperative Robot Assistant, CORA, gesture recognition, haptic interfaces, household, industrial assembly, manipulators, object recognition, robot assistant, robots, speech recognition},
pubstate = {published},
tppubtype = {inproceedings}
}
Ioannis Iossifidis
CoRA, übernehmen Sie! Journal Article
In: RUBIN, pp. 71–73, 2002.
BibTeX | Tags:
@article{Iossifidis2002c,
title = {CoRA, übernehmen Sie!},
author = {Ioannis Iossifidis},
year = {2002},
date = {2002-01-01},
journal = {RUBIN},
pages = {71--73},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
Ioannis Iossifidis
Video Demonstration: Interactive grasping Miscellaneous
http://www.ini.rub.de /thbio/group/robotic/video4.rm, 2002.
Links | BibTeX | Tags: interactive grasping
@misc{Iossifidis2002bb,
title = {Video Demonstration: Interactive grasping},
author = {Ioannis Iossifidis},
url = {http://www.ini.rub.de/thbio/group/robotic/video4.rm},
year = {2002},
date = {2002-01-01},
howpublished = {http://www.ini.rub.de /thbio/group/robotic/video4.rm},
keywords = {interactive grasping},
pubstate = {published},
tppubtype = {misc}
}
I Iossifidis; C Bruckhoff; C Theis; C Grote; C Faubel; G Schöner
CORA: An anthropomorphic robot assistant for human environment Inproceedings
In: Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication, pp. 392–398, IEEE, 2002, ISBN: 0-7803-7545-9.
Abstract | Links | BibTeX | Tags: Autonomous robotics, direct physical interaction, haptic interface, human robot collaboration, man machine interaction
@inproceedings{Iossifidis2002ab,
title = {CORA: An anthropomorphic robot assistant for human environment},
author = {I Iossifidis and C Bruckhoff and C Theis and C Grote and C Faubel and G Schöner},
doi = {10.1109/ROMAN.2002.1045654},
isbn = {0-7803-7545-9},
year = {2002},
date = {2002-01-01},
booktitle = {Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication},
pages = {392--398},
publisher = {IEEE},
abstract = {We describe the general concept, system architecture, hardware, and the behavioral abilities of CORA (Cooperative Robot Assistant), an autonomous nonmobile robot assistant. Outgoing from our basic assumption that the behavior to perform determines the internal and external structure of the behaving system, we have designed CORA anthropomorphic to allow for humanlike behavioral strategies in solving complex tasks. Although CORA was built as a prototype of a service robot system to assist a human partner in industrial assembly tasks, we will show that CORA's behavioral abilities are also conferrable in a household environment. After the description of the hardware platform and the basic concepts of our approach, we present some experimental results by means of an assembly task.},
keywords = {Autonomous robotics, direct physical interaction, haptic interface, human robot collaboration, man machine interaction},
pubstate = {published},
tppubtype = {inproceedings}
}
2001
I Iossifidis; A Steinhage
Dynamical systems: A framework for man machine interaction Book
2001, ISBN: 9608052440.
Abstract | BibTeX | Tags: Anthropomorphic Robot, Dynamic Approach, dynamical systems
@book{Iossifidis2001a,
title = {Dynamical systems: A framework for man machine interaction},
author = {I Iossifidis and A Steinhage},
isbn = {9608052440},
year = {2001},
date = {2001-01-01},
booktitle = {Advances in Automation, Multimedia and Video Systems, and Modern Computer Science},
abstract = {We present an architecture to generate behavior for anthropomorphic robots. The goal is to equip the robots with the capacity to interact naturally with a human sharing the same interaction-channels. Motivated by the research on biological systems, our basic assumption is that the behavior to perform determines the external and internal structure of the behaving system. We describe the anthropomorphic design of our robots and present a distributed control system that generates human-like navigation and manipulation behavior. As the mathematical framework for this purpose we have developed a control system which is entirely based on dynamical systems in the form of instantiated dynamics and neural fields.},
keywords = {Anthropomorphic Robot, Dynamic Approach, dynamical systems},
pubstate = {published},
tppubtype = {book}
}
Ioannis Iossifidis; Axel Steinhage
Dynamical Systems: A Framework for Man Machine Interaction Inproceedings
In: Kluev, V V; D'Attellis, C E; Mastorakis, N E (Ed.): Proceedings of the International Conference On Automation and Information: Theory and Applications 2001, (AITA 2001), WSES WSES Press, Skiathos Island, Greece, 2001.
Abstract | BibTeX | Tags: Anthropomorphic Robot, Dynamic Approach, dynamical systems
@inproceedings{Iossifidis2001b,
title = {Dynamical Systems: A Framework for Man Machine Interaction},
author = {Ioannis Iossifidis and Axel Steinhage},
editor = {V V Kluev and C E D'Attellis and N E Mastorakis},
year = {2001},
date = {2001-01-01},
booktitle = {Proceedings of the International Conference On Automation and Information: Theory and Applications 2001, (AITA 2001)},
number = {ISBN:960-8052-44-0},
publisher = {WSES Press},
address = {Skiathos Island, Greece},
organization = {WSES},
abstract = {We present an architecture to generate behavior for anthropomorphic robots. The goal is to equip the robots with the capacity to interact naturally with a human sharing the same interaction- channels. Motivated by the research on biological systems, our basic assumption is that the behavior to perform determines the external and internal structure of the behaving system. We describe the anthropomorphic design of our robots and present a distributed control system that generates human- like navigation and manipulation behavior. As the mathematical framework for this purpose we have developed a control system which is entirely based on dynamical systems in the form of instantiated dynamics and neural fields.},
keywords = {Anthropomorphic Robot, Dynamic Approach, dynamical systems},
pubstate = {published},
tppubtype = {inproceedings}
}
Ioannis Iossifidis; Axel Steinhage
Control of an 8 DoF Manipulator by Means of Neural Fields Inproceedings
In: Halme, Aarne; Chatila, Raja; Prassler, Erwin (Ed.): Proceedings of the International Conference On Field and Service Robotics, FSR2001, Yleisjäljennös-Painopörssi, Helsinki, Finland, 2001.
Abstract | BibTeX | Tags: Inverse kinematics, neural fields, Robot manipulator control
@inproceedings{Iossifidis2001c,
title = {Control of an 8 DoF Manipulator by Means of Neural Fields},
author = {Ioannis Iossifidis and Axel Steinhage},
editor = {Aarne Halme and Raja Chatila and Erwin Prassler},
year = {2001},
date = {2001-01-01},
booktitle = {Proceedings of the International Conference On Field and Service Robotics, FSR2001},
publisher = {Yleisjäljennös-Painopörssi},
address = {Helsinki, Finland},
abstract = {In this article we present a new approach for the control of a redundant robot arm. Our approach contains two parts: first, we have implemented a concept which deals with the underdetermined problem of the inverse kinematics of robot arms with more than six degrees of freedom. This concept guarantees a one-to-one mapping between the task coordinates (position and orientation) and the joint coordinates of the robot arm and allows to use the additional degrees of freedom for additional task requirements such as obstacle avoidance and smoothness of the trajectory. Second, we apply a mathe- matical concept known as neural fields to the control of the end-effector's position. The application of neural fields to the problem of trajectory generation solves two problems: a smooth end-effector trajec- tory is generated and obstacles are avoided. After presenting our hardware platform, an anthropomorphic assistance robot, we will describe the basic concepts of our approach.},
keywords = {Inverse kinematics, neural fields, Robot manipulator control},
pubstate = {published},
tppubtype = {inproceedings}
}
Christoph Theis; Ioannis Iossifidis; Axel Steinhage
Image processing methods for interactive robot control Inproceedings
In: Proc. 10th IEEE International Workshop on Robot and Human Interactive Communication, pp. 424–429, 2001.
Abstract | Links | BibTeX | Tags: active stereo camera system, human hand tracking, human pointing gesture, image processing, interactive robot control, multi-modal man-machine interaction system
@inproceedings{Theis2001,
title = {Image processing methods for interactive robot control},
author = {Christoph Theis and Ioannis Iossifidis and Axel Steinhage},
doi = {10.1109/ROMAN.2001.981941},
year = {2001},
date = {2001-01-01},
urldate = {2001-01-01},
booktitle = {Proc. 10th IEEE International Workshop on Robot and Human Interactive Communication},
pages = {424--429},
abstract = {In this paper we describe a straight forward technique for tracking a human hand based on images acquired by an active stereo camera system. We demonstrate the implementation of this method on an anthropomorphic assistance robot as part of a multi-modal man-machine interaction system: detecting the hand-position, the robot can interprete a human pointing gesture as the specification of a target object to grasp},
keywords = {active stereo camera system, human hand tracking, human pointing gesture, image processing, interactive robot control, multi-modal man-machine interaction system},
pubstate = {published},
tppubtype = {inproceedings}
}
Werner Seelen; Ioannis Iossifidis; Axel Steinhage
Visually guided behavior of an autonomous robot with a neuronal architecture Inproceedings
In: 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2001, IEEE Banff, Canada, 2001.
Abstract | BibTeX | Tags: active stereo camera system, Autonomous robotics, human hand tracking, human pointing gesture, image processing, interactive robot control, multi-modal man-machine interaction system
@inproceedings{Seelen2001,
title = {Visually guided behavior of an autonomous robot with a neuronal architecture},
author = {Werner Seelen and Ioannis Iossifidis and Axel Steinhage},
year = {2001},
date = {2001-01-01},
booktitle = {2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2001},
address = {Banff, Canada},
organization = {IEEE},
series = {CIRA 2001, Workshop Vision-Based Object Recognition in Robotics},
abstract = {We constructed two Robot Systems. Both have a "neuronal architecture". The first (ARNOLD) is able to explore visually an unknown environement, to navigate in this environment and to use his 7DOF-arm to grasp and transport objects. The system can be guided by gestures and a limited set of spoken commands. The second system (CORA) is stationary and shall cooperate with a human at a production line in an interactive assembly process. Our contribution is focussed on to the vision problems. In both cases we use a 2DOF stereo camera system. The visual navigation is based on "place fields" obtained by correlating the current view with stored views captured at strategic points. This can be combined with a trajectory finding on the basis of nonlinear dynamics. Obstacles are avoided by repellors in the trajectory-equation and by inverse perspective mapping. Position and form of objects are evaluated in the sense of finding an appropriate grasping configuration for selected objects. The scene analysis in the CORA-system presupposes the estimation of the view-direction of the human partner. Than a limited set of objects can be detected and tracked if this is necessary (Hausdorff distance). The actual analysis of the entire scene relies on the relation of the detected objects to eachother within the environement, on the task to be fulfilled and on the step that is reached within the entire task. The different necessary estimations and detections within the sequences are coded in terms of Neural fields. In this way the visual perception, the interactive communication and the visually guided behaviour is realised in the same formate.},
keywords = {active stereo camera system, Autonomous robotics, human hand tracking, human pointing gesture, image processing, interactive robot control, multi-modal man-machine interaction system},
pubstate = {published},
tppubtype = {inproceedings}
}
1999
Ioannis Iossifidis
Visuelle Navigation auf einem autonomen mobilen Roboter PhD Thesis
Fakultät für Physik, Technische Universität Dortmund, 1999.
BibTeX | Tags: Autonomous robotics, place cells, robot navigation
@phdthesis{Iossifidis1999,
title = {Visuelle Navigation auf einem autonomen mobilen Roboter},
author = {Ioannis Iossifidis},
year = {1999},
date = {1999-01-01},
school = {Fakultät für Physik, Technische Universität Dortmund},
keywords = {Autonomous robotics, place cells, robot navigation},
pubstate = {published},
tppubtype = {phdthesis}
}
0000
Stephan Johann Lehmler; Muhammad Saif-ur-Rehman; Tobias Glasmachers; Ioannis Iossifidis
Deep Transfer Learning Compared to Subject-Specific Models for sEMG Decoders Journal Article
In: 0000, ISSN: 1741-2552.
Abstract | Links | BibTeX | Tags:
@article{lehmlerDeepTransferLearning2022,
title = {Deep Transfer Learning Compared to Subject-Specific Models for sEMG Decoders},
author = {Stephan Johann Lehmler and Muhammad Saif-ur-Rehman and Tobias Glasmachers and Ioannis Iossifidis},
url = {http://iopscience.iop.org/article/10.1088/1741-2552/ac9860},
doi = {10.1088/1741-2552/ac9860},
issn = {1741-2552},
urldate = {2022-10-13},
abstract = {Objective Accurate decoding of surface electromyography (sEMG) is pivotal for muscle-to-machine-interfaces (MMI) and their application e.g. rehabilitation therapy. sEMG signals have high inter-subject variability, due to various factors, including skin thickness, body fat percentage, and electrode placement. Deep learning algorithms require long training time and tend to overfit if only few samples are available. In this study, we aim to investigate methods to calibrate deep learning models to a new user when only a limited amount of training data is available. Approach Two methods are commonly used in the literature, subject-specific modeling and transfer learning. In this study, we investigate the effectiveness of transfer learning using weight initialization for recalibration of two different pretrained deep learning models on new subjects data and compare their performance to subject- specific models. We evaluate two models on three publicly available databases (NinaPro Database 2,3 and 4) and compare the performance of both calibration schemes in terms of accuracy, required training data, and calibration time. Main results On average over all settings, our transfer learning approach improves 5 %-points on the pretrained models without fine-tuning, and 12 %-points on the subject-specific models, while being trained for 22% fewer epochs on average. Our results indicate that transfer learning enables faster learning on fewer training samples than user-specific models. Significance To the best of our knowledge, this is the first comparison of subject- specific modeling and transfer learning. These approaches are ubiquitously used in the field of sEMG decoding. But the lack of comparative studies until now made it difficult for scientists to assess appropriate calibration schemes. Our results guide engineers evaluating similar use cases.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}