Advances in Robotics Research

Kinematic and Dynamic Modelling.- Joint Dominance Coefficients: A Sensitivity-Based Measure for Ranking Robotic Degrees of Freedom.- Learning Kinematics from Direct Self-Observation Using Nearest-Neighbor Methods.- Guidelines for Low Mass and Low Inertia Dynamic Balancing of Mechanisms and Robotics.- Motion Generation.- Probability-Based Robot Search Paths.- Mapping and Navigation of Mobile Robots in Natural Environments.- Sensor-Based Online Planning of Time-Optimized Paths in Dynamic Environments.- Sensor Integration.- Analysis of Strain Transfer to FBG's for Sensorized Telerobotic End-Effector Applications.- Intuitive Collision Avoidance of Robots Using Charge Generated Virtual Force Fields.- 6D Pose Uncertainty in Robotic Perception.- Robot Vision.- 3D Shape Detection for Mobile Robot Learning.- 3D Collision Detection for Industrial Robots and Unknown Obstacles Using Multiple Depth Images.- Reducing Motion Artifacts in Mobile Vision Systems via Dynamic Filtering of Image Sequences.- Robot Programming.- A Software Architecture for Model-Based Programming of Robot Systems.- Intuitive Robot Programming of Spatial Control Loops with Linear Movements.- Model-Based Programming "by Demonstration"- Fast Setup of Robot Systems (ProDemo).- Humanoid Robots.- New Concept for Wrist Design of the Humanoid Robot ARMAR.- Biological Motivated Control Architecture and Mechatronics for a Human-Like Robot.- Using the Torso to Compensate for Non-Minimum Phase Behaviour in ZMP Bipedal Walking.- Grasping.- Object-Specific Grasp Maps for Use in Planning Manipulation Actions.- Vision Controlled Grasping by Means of an Intelligent Robot Hand.- Learning an Object-Grasp Relation for Silhouette-Based Grasp Planning.- Efficient Parallel Random Sample Matching for Pose Estimation,Localization, and Related Problems.- Medical Robotics.- Automated Robot Assisted Fracture Reduction.- Path Planning for Robot-Guided Endoscopes in Deformable Environments.- Autonomous Helicopters.- An Unmanned Helicopter for Autonomous Flights in Urban Terrain.- Interaction of Altitude Control and Waypoint Navigation of a 4 Rotor Helicopter.- Cooperative Autonomous Helicopters for Load Transportation and Environment Perception.- Applications.- Robot on the Leash -- An Intuitive Inexpensive Interface for Robots Using the Nintendo Wii Remote.- Robot Basketball: Ball Dribbling -- A Modified Juggling Task.- Research on Exoskeletons at the TU Berlin.- Hard- and Software Architecture of a Small Autonomous Underwater Vehicle for Environmental Monitoring Tasks.