Simon Notheis

Evaluation of a method for intuitive telemanipulation based on view-dependent mapping and inhibition of movements

In this paper we present a novel approach for intuitive telemanipulation in Cartesian space and discuss the results of a user study evaluating different aspects of our approach. The proposed method inhibits certain degrees of freedom based on the current viewpoint. Together with automatic mapping of the input device to corresponding motion axes, our approach provides a very intuitive method for controlling the telemanipulation system while reducing the mental workload of the operator and therefore the amount of erroneous commands. Similar principles apply for controlling the viewpoint of real or virtual cameras to facilitate manipulation or navigation tasks.

Towards an autonomous manipulator system for decontamination and release measurement

This paper will present a manipulator and transport system for autonomous exploration, decontamination and radiation measurement / release measurement of contaminated surfaces as found during dismantling of nuclear power plants. An innovative system for surface ablation and measurement tasks is currently being developed under the research project MAFRO (Manipulatorgestütztes Freimessen von Oberflächen = manipulator-based release measurement of surfaces), a joint project of the Institute for Process Control and Robotics and the Institute for Technology and Management in Construction at the Karlsruhe Institute of Technology (KIT), funded by the German Federal Ministry of Education and Research (BMBF). The setup comprises a transport system and a manipulator equipped with vacuum suction units to move along walls.

Skill-based telemanipulation by means of intelligent robots

In order to enable robots to execute highly dynamic tasks in dangerous or remote environments, a semiautomatic teleoperation concept has been developed and will be presented in this paper. It relies on a modular software architecture, which allows intuitive control over the robot and compensates latency-based risks by using Augmented Reality techniques together with path prediction and collision avoidance to provide the remote user with visual feedback about the tasks and skills that will be executed. Based on this architecture different skills with high dynamics are integrated in the robot control, so that they can be executed autonomously without the delayed feedback of the user. The skill-based grasping by adherence of smooth or fragile objects during a remote controlled picking and placing task will be exemplary presented.

Environment modeling and path planning for a semi-autonomous manipulator system for decontamination and release measurement

This paper will present algorithms necessary for a system that allows for semi-autonomous decontamination and radiation measurement / release measurement of contaminated surfaces as found during dismantling of nuclear power plants. An innovative system for surface ablation and measurement tasks is currently being developed, which comprises a transport system and a manipulator equipped with vacuum suction units to move along walls. The necessary steps for acquiring and processing an environment model as well as path planning based on the kinematic constraints of the manipulator are discussed in detail. The algorithms are integrated into a software framework that allows for seamless switching between simulation and reality for real-time monitoring and modification of the planning results.