Advances in Robotics Research Theory, Implementation, Application
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 contribut
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Torsten Kröger and Friedrich M. Wahl (Eds.)
Advances in Robotics Research Theory, Implementation, Application
ABC
Dr.-Ing. Torsten Kröger Institut für Robotik und Prozessinformatik Technische Universität Braunschweig Mühlenpfordtstraße 23 38106 Braunschweig Germany E-mail: [email protected] http://www.rob.cs.tu-bs.de Prof. Dr.-Ing. Friedrich M. Wahl Institut für Robotik und Prozessinformatik Technische Universität Braunschweig Mühlenpfordtstraße 23 38106 Braunschweig Germany E-mail: [email protected] http://www.rob.cs.tu-bs.de
ISBN 978-3-642-01212-9
e-ISBN 978-3-642-01213-6
DOI 10.1007/978-3-642-01213-6 Library of Congress Control Number: Applied for c 2009 Springer-Verlag Berlin Heidelberg This work is subject to copyright. All rights are reserved, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilm or in any other way, and storage in data banks. Duplication of this publication or parts thereof is permitted only under the provisions of the German Copyright Law of September 9, 1965, in its current version, and permission for use must always be obtained from Springer. Violations are liable to prosecution under the German Copyright Law. The use of general descriptive names, registered names, trademarks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. Typesetting: Scientific Publishing Services Pvt. Ltd., Chennai, India. Cover Design: eStudioCalamar S.L. Printed in acid-free paper 987654321 springer.com
Preface
This book is a collection of scientific papers presented at the German Workshop on Robotics — a convention of researchers 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. As a new event of the Deutsche Gesellschaft f¨ur Robotik (DGR, German Robotics Society), the workshop took place at the Technische Universit¨at Carolo-Wilhelmina zu Braunschweig on June 9-10, 2009. Covering some of the most important ongoing robotics research topics, this volume contains 31 carefully selected and discussed contributions. All of them were presented at the workshop that was attended by 80 researchers representing a wide range of research areas within robotics. 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. Two invited talks by Antonio Bicchi and Atsuo Takanishi presented surveys of research activities in the fields of human-robot interaction and humanoid robotics. The Program Committee was comprised of Karsten Berns, Oliver Brock, Wolfram Burgard, Martin Buss, Thomas Christaller, R¨udiger Dillmann, Bernd Finkemeyer, Mar
