Abstract
Key items in the development of a new smart robot generation are explained by hand of DLR’s recent activities in robotics research. These items are the design of multisensory gripper and articulated hands systems, ultra-light-weight links and joint drive systems with integrated joint torque control, learning and self-improvement of the dynamical behaviour, modelling the environment using sensorfusion, and new sensor-based off-line programming techniques based on teaching by showing in a virtual environment.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
G. Hirzinger, B. Brunner, J. Dietrich, J. Heindl, „ROTEX — The First Remotely Controlled Robot in Space“, IEEE Int. Conference on Robotics and Automation, San Diego, California, May 8–13, 1994
G. Hirzinger, J. Butterfass, S. Knoch, H. Liu, DLR’s multisensory articulated hand, ISER’95 Fifth International Symposium on Experimental Robotics, Barcelona, Catalonia, June 15–18, 1997
G. Hirzinger, A. Baader, R. Koeppe, M. Schedi, “Towards a new generation of multisensory light-weight robots with learning capabilities”, Prod. IFAC 1993 World Congress, Sydney, Australia, 1993.
B. Gombert, G. Hirzinger, G. Plank, M. Schedi, „Modular concepts for a new generation of light weight robots“, Prod. IEEE Int. Conf. on Industrial Elektronics, Instrumentation and Control (IECON), Bologna, Italy, 1994
B. Brunner, K. Landzettel, B.M. Steinmetz, and G. Hirzinger, „Tele Sensor Programming — A task-directed programming approach for sensor-based space robots“, Proc. ICAR’95 7th International Conference on Advanced Robotics, Sant Feliu de Guixols, Catalonia, Spain, 1995.
G. Grunwald and G.D. Hager, „Towards Task-Directed Planning of Cooperating Sensors”, Proc. SPIE OE/Technology: Sensor Fusion V, Conf. 1828, Boston, Mass., 1992.
V. Senft, G. Hirzinger, „Redundant Motions of Non Redundant Robots — A New Approach to Singularity Treatment“, 1995 IEEE Int. Conf. on Robotics and Automation ICRA’95, Nagoya, Japan, vol 2, pp. 1553–1558, 1995
J. Shi, Y. Lu, „Chatter Free Variable Structure Perturbarion Estimator on the Torque Control of Flexible Robot Joints with Disturbance and Parametric Uncertainties“, Proc. IEEE Conf. on Industrial Electronics, Control and Instrumentation, IECON’96, Taipei, 1996
G. Wei, G. Hirzinger, B. Brunner, „Sensorimotion coordination and sensor fusion by neural networks“, Proc. IEEE Int. Conf. on Neural Networks, San Francisco, USA, 1993
P. Wunsch, G. Hirzinger, „Real-time visual tracking of 3D-objects with dynamic handling of occlusion“, IEEE Int. Conf. on Robotics and Automation, Albuquerque, NM, 1997
P. Wunsch, G. Hirzinger, „Registration of CAD-models to images by iterative inverse perspective matching“, ICPR’96 Int. Conf. on Pattern Recognition, Vienna, Austria, 1996
G.Q. Wei, G. Hirzinger, „Learning shape from shading by a multilayer network“, IEEE Transactions on Neural Networks, vol. 7, pp. 985–995, 1996
G.Q. Wei, K. Arbter, G. Hirzinger, „Real-time visual servoing for laparoscopic surgery”, IEEE Engineering in Medicine and Biology, vol. 16, 1997
P.v.d. Smagt, G. Hirzinger, „Local minima in ill-conditioned feed-forward neural networks“, Workshop on ANNs and Continuous Optimization at NIPS 1996“, Snowmass, Colorado, 1996
P.v.d. Smagt, G. Hirzinger, „Optimization in feed-forward neural networks: On conjugate gradient, network size, and local minima“, Workshop on Tricks of the Trade at NIPS, Snowmass, Colorado, 1996
A. Baader, G. Hirzinger, „A self-organizing algorithm for multisensory surface reconstruction“, Proc. IROS’94 IEEE Int. Conf. on Intelligent Robots and Systems, München, 1994
F. Lange, G. Hirzinger, „Learning of a controller for non-recurring fast movements“, Advanced Robotics, pp. 229–244, 1996
M.W. Walker and R.P.C. Paul, „Resolved-Acceleration Control of Mechanical Manipulators“, IEEE Trans. Automatic Control, vol. 25, pp. 468–474, 1980
O. Khatib, „A Unified Approach for Motion and Force Control of Robot Manipulators: The Operational Space Formulation“, IEEE J. Robotics and Automation, vol. 3, pp.43–53, 1987.
E. D. Dickmanns and V. Graefe. Dynamic monocular machine vision. Machine Vision and Applications, 1:223–240,1988.
R. Koeppe, G. Hirzinger, „Learning Compliant Motions by Task-Demonstration in Virtual Environments“, Proc. of the Fourth International Symposium on Experimental Robotics, ISER’95, Stanford, CA, pp. 188–193, 1995.
R. Koeppe, A. Breidenbach, and G. Hirzinger, “Skill representation and acquisition of compliant motions using a teach device,” presented at Proc. IEEE/RSJ Int. Conference on Intelligent Robots and Systems IROS’96, Osaka, Japan, 1996.
F. Arai, L. Rong, and T. Fukuda. Asymptotic convergence of feedback error learning method and improvement of learning speed. In IEEE Int. Conf. on Intelligent Robots and Systems (IROS), Yokohama, Japan, July 26–30 1993
F. Lange and G. Hirzinger, “Application of multilayer perceptrons to decouple the dynamical behaviour of robot links,” presented at Proc. International Conference on Artificial Neural Networks, ICANN’95, Paris, France, 1995.
E. Ralli and G. Hirzinger, “Fast path planning for 6-dof robot manipulators in static or partially changing environments,” presented at Proc. ICAR’95 7th International Conference on Advanced Robotics, Sant Feliu de Guixols, Catalonia, Spain, 1995.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 1998 Springer-Verlag London Limited
About this paper
Cite this paper
Hirzinger, G., Brunner, B., Knoch, S., Koeppe, R., Schedl, M. (1998). Towards a new Robot Generation. In: Shirai, Y., Hirose, S. (eds) Robotics Research. Springer, London. https://doi.org/10.1007/978-1-4471-1580-9_16
Download citation
DOI: https://doi.org/10.1007/978-1-4471-1580-9_16
Publisher Name: Springer, London
Print ISBN: 978-1-4471-1582-3
Online ISBN: 978-1-4471-1580-9
eBook Packages: Springer Book Archive