Informationstechnische Gesellschaft im VDE (VDE ITG) (Ed.)

ISR Europe 2022

54th International Symposium on Robotics, in conjunction with: automatica, June 20 – 21, 2022, Munich

2022, 379 pages, 140 x 124 mm, Slimlinebox, CD-Rom
ISBN 978-3-8007-5891-3, e-book: ISBN 978-3-8007-5892-0
Personal VDE Members are entitled to a 10% discount on this title

Content Foreword

Robotics technologies are in an active process of convergence towards innovative solutions with great benefit for all mankind. We roboticists are at the forefront of this development, combining Industry 4.0 and AI trends with established use cases from the industry. Robots are increasingly taking over dangerous, dull or painful tasks Recent years have shown many interesting developments that can be published at the ISR, making it the ideal platform for presenting your research results to the community.

The 54th International Symposium on Robotics – ISR Europe 2022 will be held again in Munich, Germany on June 20-21, 2022. This international conference is jointly organized by the Mechanical Engineering Industry Association (VDMA) and the Information Technology Society (ITG) within the VDE. ISR Europe 2022 takes place anew parallel to the Automatica, the leading exhibition for smart automation and robotics. The conference will start one day before the trade fair, leaving conference participants with plenty of time to visit the Automatica.
ITG – Informationstechnische Gesellschaft im VDE (VDE ITG)
Die ITG ist als interdisziplinär arbeitende, wissenschaftliche Fachgesellschaft in das fachübergreifende Netzwerk des VDE eingebunden. Sie agiert als Schnittstelle für Experten der Informationstechnik (ITK) in Wirtschaft, Verwaltung, Lehre und Forschung. Ihre Mitglieder bündeln in enger internationaler Anbindung die deutsche Kompetenz im Bereich der ITK. Die ITG fördert Forschung und Anwendung dieser Schlüsseltechnologie sowie deren effizienten Einsatz in den Bereichen Daten- und Kommunikationstechnik und -systeme, Umweltschutz, Medizin und Verkehr.
1

Multi-level optimization approach for multi-robot manufacturing systems

Authors:
Ye, Xin; Shen, Wei; Mamaev, Ilshat; Bertram, Thomas; Bryg, Maximilian; Schwartz, Manuel; Hohmann, Soeren; Asfour, Tamim; Hein, Bjoern; Kipfmueller, Martin; Kotschenreuther, Jan

2

Force-Based Pick-and-Place Along Curved Surfaces Exploiting Robot Repeatability

Authors:
Reinhold, Jan; Elsner, Lukas; Meurer, Thomas

3

Localization and Tracking of Deformable Linear Objects with Self Organizing Maps

Authors:
Zuern, Manuel; Wnuk, Markus; Schneider, Anja; Lechler, Armin; Verl, Alexander

4

Analysis of Trajectory Influences on the Handling Efficiency of Vacuum-based Granular Grippers

Authors:
Wacker, Christian; Dierks, Niklas; Hunfeld, Johannes; Kwade, Arno; Dröder, Klaus

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6

Systematic Testing of Exoskeletons with Robots: Challenges and Opportunities

Authors:
Wehrle, Theresa; Barut, Sinan; Klankers, Kilian; Mohammadi, Pouya; Steil, Jochen

7

Real-time simulation and virtual commissioning of a modular robot system with OPC UA

Authors:
Reiser, Robert; Thiele, Bernhard; Bellmann, Tobias; Koch, Philip; Walter, Christoph

8

Easy to use interface for Correcting Trajectory Profiles for Robot Machining

Authors:
Leth, Nikolaj W.; Petersen, Henrik G.

9

The MORPHIA Project: First Results of a Long-Term User Study in an Elderly Care Scenario from Robotic Point of View

Authors:
Wengefeld, Tim; Schuetz, Benjamin; Girdziunaite, Gerda; Scheidig, Andrea; Gross, Horst-Michael

10

Development of Proactive Human-Robot Coworking

Authors:
Greenberg, Ben; Swenson, Brian; Evans, Paul

11

Cross-Coupled Iterative Learning Control for Robot Trajectories

Authors:
Halt, Lorenz; Roweha, Mahmoud

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13

Environment perception for mobile robots – using artificial intelligence for irregularity detection

Authors:
Blumhardt-Ziegler, Laura; Korte, David; Blum, Sebastian; Kamath, Raghavendra; Snagowski, Vanessa; Schulz, Robert

14

Algorithm for inverse kinematics of a multi-link manipulator

Authors:
Leniowski, Ryszard; Leniowski, Lucyna

15

Multi-Robot Synergistic Localization in Dynamic Environments

Authors:
Latif, Ehsan; Parasuraman, Ramviyas

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High Speed RCS for Robot Task Sequencing Optimization

Authors:
Schillreff, Nadia; Scholle, Julian-Benedikt; Kirchheim, Konstantin; Ortmeier, Frank

20

Experimental analysis of a hybrid drive train implemented in a novel industrial robot approach

Authors:
Hamann, Tobias; Hansen, Stephan; Bitterolf, David; Boehlmann, Christian; Moeller, Christian; Seifried, Robert; Hintze, Wolfgang

21

Behavior-Based Visual Servoing on a Hybrid CPU-/FPGA-Platform

Authors:
Heupel, Christian; Koepper, Alexander; Berns, Karsten

22

Shopfloor-Ready High Accuracy Robotics

Authors:
Garstenauer, Michael; Mittermayer, Christoph; Reyhani-Masouleh, Moien; Schwegel, Michael

23

Deep Learning Based Online Semantic Mapping for Automated Guided Vehicles in Indoor Intralogistics Environments

Authors:
Schweigert, Anneliese; Blesing, Christian; Roehrig, Christof

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25

Simulation Technology and Application of Safe Collaborative Operations in Human-Robot Interaction

Authors:
Miro, Michael; Glogowski, Paul; Lemmerz, Kai; Kuhlenkoetter, Bernd; Gualtieri, Luca; Rauch, Erwin; Gkournelos, Christos; Makris, Sotiris; Plapper, Peter; Kumar, Atal Anil

26

An extended two-mass model for clamping hazards in human-robot-collaboration: peak forces and permissible speeds

Authors:
Byner, Christoph; Clever, Debora; Staab, Harald; Matthias, Bjoern

27

Human Robot Collaboration: Taxonomy of Interaction Levels in Manufacturing

Authors:
McGirr, Laura; Jin, Yan; Price, Mark; West, Andrew; van Lopik, Katherine; McKenna, Vincent

28

Extra-Large-Scale Robotics: Applications and Advances

Authors:
Dryba, Steffen; Vincon, Armin; Kloetzer, Christian

29

Robot-based image acquisition for dendrochronological analysis of curved wooden surfaces

Authors:
Schauer, Moritz; Czekansky, Jakob; Kreutzer, Michael; Bienhaus, Diethelm

30

Towards automatic welding on construction sites: A flexible robotic system for multi-layer welding

Authors:
Finkbeiner, Martin Satoshi; Landgraf, Christian; Mueller-Graf, Felix; Paschke, Udo; Stoll, Johannes; Kraus, Werner; Inoue, Yasuhiko; Kushibe, Atsumichi; Hentz, Gauthier

31

Recursion-Based Probabilistic RoadMap for Robot Path Planning

Authors:
Chowdhury, Mohammad Imran; Schwartz, Daniel G.

32

Why interoperability is critical to the warehouse of the future

Authors:
Lia, Qing Rebecca; Dydek, Zachary; Theobald, Daniel

33

Mobile Robots enabled by Intelligent Edge – Reference Model and Testbed Setup

Authors:
Motz, Andre; Trebschuh, Jan; Lehmann, Matthias; Rastogi, Prateek; Radhakrishnan, Lakshanadevi; Veeranna Shiva, Sagar; Sousa, Henrique Cabral Meneses Almeida; Schaefer, Falk-Moritz

34

Robot-based Sample Tube Handling for Automated Pre- and Post-processing of SARS-CoV-2 PCR Tests

Authors:
Sessner, Julian; Reitelshoefer, Sebastian; Lieret, Markus; Springs, Konstantin; Franke, Joerg

35

Development and Evaluation of a Mobile Manipulation Robot for Surface Disinfection

Authors:
Baumgarten, Simon; Jordan, Florian; Patel, Mayank; Schmelzer, Miriam; Graf, Birgit

36

Development of an autonomous fire extinguishing robot

Authors:
Miller, Alexander; Lel, Alexander; Roehrig, Christof; Strassmann, Thomas; Kremer, Felix; Soltau, Stefan; Eichmann, Jens

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41

Cognitive Intelligence for Professional Cleaning Robots

Authors:
Graf, Florenz; Bormann, Richard; Jordan, Florian; Baum, Winfried; Kraus, Werner; Graf, Birgit

42

43

Let Me Entertain You – A Quantitative Study on the Acceptance of Consumer Entertainment Robots

Authors:
Merz, Nina; Erkan, Acelya; Bodendorf, Freimut; Franke, Joerg

44

Mission-based autonomy core for decentralized mobile UGV swarms

Authors:
Puzicha, Alexander; Buchholz, Peter

45

A study on mobile robot traveling guidance system by linking multiple RT systems for a non-technical person

Authors:
Matsuhira, Nobuto; Seshime, Yoshiaki; Kato, Koichiro; Yoganata, Kristant; Tanikawa, Tomoki; Shigehiro, Shugo; Sasaki, Takeshi

46

Autonomous racing of micro air vehicles and their visual tracking within the MIcro aerial vehicle and MOtion capture (MIMO) arena

Authors:
Gazdag, Sandor; Kiskaroly, Albert; Sziranyi, Tamas; Majdik, Andras L.

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48

On Peak and Integral Criteria to Assess Physical Contact in Human-Robot-Collaboration (HRC)

Authors:
Clever, Debora; Byner, Christoph; Staab, Harald; Matthias, Bjoern

49

Development of a Simulation-based Risk Assessment Tool for HRC Applications

Authors:
Huck, Tom P.; Ledermann, Christoph; Klose, Silke; Dai, Fan; Matthias, Bjoern; Byner, Christoph

50

Human-Robot-Collaboration for Individuals with special Needs

Authors:
Dalm, Kris; Sahuji, Rohan; Frank, Florian

51