Publications
2010
M A Grimm; I Iossifidis
Behavioral organization for mobile robotic systems: An attractor dynamics approach Inproceedings
In: Joint 41st International Symposium on Robotics and 6th German Conference on Robotics 2010, ISR/ROBOTIK 2010, 2010, ISBN: 9781617387197.
Abstract | BibTeX | Tags: Autonomous robotics, behavior generation, dynamical systems, movement model
@inproceedings{Grimm2010a,
title = {Behavioral organization for mobile robotic systems: An attractor dynamics approach},
author = {M A Grimm and I Iossifidis},
isbn = {9781617387197},
year = {2010},
date = {2010-01-01},
booktitle = {Joint 41st International Symposium on Robotics and 6th German Conference on Robotics 2010, ISR/ROBOTIK 2010},
volume = {1},
abstract = {In this paper we describe an architecture for behavioral organization based on dynamical systems. This architecture enables the generation of complex behavioral sequences, which is demonstrated using the example of approaching and passing a door. The behavioral sequence is generated by activating and deactivating the elementary behaviors dependent on sensory information and internal logical conditions. The architecture is demonstrated on a mobile KOALA robot and in simulation as well.},
keywords = {Autonomous robotics, behavior generation, dynamical systems, movement model},
pubstate = {published},
tppubtype = {inproceedings}
}
Hendrik Reimann; Ioannis Iossifidis; Gregor Schöner
End-effector obstacle avoidance using multiple dynamic variables Inproceedings
In: ISR / ROBOTIK 2010, Munich, Germany, 2010.
Abstract | BibTeX | Tags: Autonomous robotics, behavior generation, dynamical systems, movement model
@inproceedings{Reimannd,
title = {End-effector obstacle avoidance using multiple dynamic variables},
author = {Hendrik Reimann and Ioannis Iossifidis and Gregor Schöner},
year = {2010},
date = {2010-01-01},
booktitle = {ISR / ROBOTIK 2010},
address = {Munich, Germany},
abstract = {The avoidance of obstacles is a crucial part of the generation of behavior for autonomos robotic agents. A standard method to produce trajectories to a given target that avoids a number of possibly mobile obstacles is the potential field approach introduced by Khatib, where an artificial potential field is constructed around target and obstacles, with the target acting as a global minimum and the obstacles as local maxima, the gradient of which is used to determine the (artificial) force acting on the robot at any moment. While the potential field approach has been used extensively for vehicle motion in a plane, applications for robotic manipulators suffer from a high level of complexity due to the formulation of constraints as forces necessitating the inclusion of dynamic properties of the manipulator into the system. We pursue a different solution to the problem of manipulator obstacle avoidance based on the dynamic approach to robotics, which states that all behavioral constraints for the generation of movement should be formulated as attractors or repellors of a dynamical systems. The problem of behavior design is thus separated from the control problem of how to realize the designed behavior, bringing the advantage of simplicity in the formulation of the former.},
keywords = {Autonomous robotics, behavior generation, dynamical systems, movement model},
pubstate = {published},
tppubtype = {inproceedings}
}
Matthias Grimm; Ioannis Iossifidis
Behavioral Organization for Mobile Robotic Systems: An Attractor Dynamics Approach Inproceedings
In: ISR / ROBOTIK 2010, Munich, Germany, 2010.
Abstract | BibTeX | Tags: Autonomous robotics, behavior generation, dynamical systems, movement model, movile robot
@inproceedings{Grimm2010b,
title = {Behavioral Organization for Mobile Robotic Systems: An Attractor Dynamics Approach},
author = {Matthias Grimm and Ioannis Iossifidis},
year = {2010},
date = {2010-01-01},
booktitle = {ISR / ROBOTIK 2010},
address = {Munich, Germany},
abstract = {Autonomous systems generate different behaviors based on the perceived environmental situation. The organization of a set of behaviors plays an important role in the field of autonomous robotics. The organization architecture must be flexible, so that behavioral changes are possible if the sensory information changes. Furthermore, behavioral organization must be stable, so that small changes in sensory information do not lead to oscillations. To achieve this, all behaviors, but also the underlying organization architecture, are based on continuous dynamical systems. They are characterized by a set of dynamical variables, also referred to as state variables. These variables represent the activation or deactivation of a particular behavior. Elementary behaviors are dependent on the sensor input in a way, that changes of the sensorial information lead to qualitatively different behaviors. The so-called sensor context denotes whether a behavior is applicable in the current sensor situation or not. However, for complex systems consisting of many elementary behaviors, it is necessary to take logical conditions into account to generate a sequence of behaviors. Furthermore, some elementary behaviors can or even must run in parallel, while others exclude each other. This internal information requires knowledge about the logical interaction of the behaviors and is stored within binary matrices. This makes the overall organization structure very flexible and easy to extend. We present the architecture using the example of approaching and passing a door. The robot has to navigate from one room to another while simultaneously avoiding obstacles in its pathway.},
keywords = {Autonomous robotics, behavior generation, dynamical systems, movement model, movile robot},
pubstate = {published},
tppubtype = {inproceedings}
}
Yulia Sandamirskaya; John Lipinski; Ioannis Iossifidis; G Schöner
Natural human-robot interaction through spatial language: a dynamic neural fields approach Inproceedings
In: Proc. 19th IEEE International Workshop on Robot and Human Interactive Communication (ROMAN 2010), pp. 600–607, IEEE, 2010, ISSN: 1944-9445.
Links | BibTeX | Tags: Autonomous robotics, behavior generation, dynamical systems, man machine interaction, movement model, speech recognition
@inproceedings{Sandamirskayasubmitted,
title = {Natural human-robot interaction through spatial language: a dynamic neural fields approach},
author = {Yulia Sandamirskaya and John Lipinski and Ioannis Iossifidis and G Schöner},
url = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5598671},
issn = {1944-9445},
year = {2010},
date = {2010-01-01},
booktitle = {Proc. 19th IEEE International Workshop on Robot and Human Interactive Communication (ROMAN 2010)},
pages = {600--607},
publisher = {IEEE},
keywords = {Autonomous robotics, behavior generation, dynamical systems, man machine interaction, movement model, speech recognition},
pubstate = {published},
tppubtype = {inproceedings}
}
2005
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; 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; 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}
}