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Author

Tim Laue

Bio: Tim Laue is an academic researcher from University of Bremen. The author has contributed to research in topics: Robot & Humanoid robot. The author has an hindex of 16, co-authored 61 publications receiving 1020 citations. Previous affiliations of Tim Laue include German Research Centre for Artificial Intelligence.


Papers
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Book ChapterDOI
01 Jan 2006
TL;DR: SimRobot as discussed by the authors is a 3D robot simulator based on rigid body dynamics, which includes a physical model which is based on a rigid body model and includes a variety of different generic bodies, sensors and actuators.
Abstract: This paper describes SimRobot, a robot simulator which is able to simulate arbitrary user-defined robots in three-dimensional space. It includes a physical model which is based on rigid body dynamics. To allow an extensive flexibility in building accurate models, a variety of different generic bodies, sensors and actuators has been implemented. Furthermore, the simulator follows an user-oriented approach by including several mechanisms for visualization, direct actuator manipulation, and interaction with the simulated world. To demonstrate the general approach, this paper presents multiple examples of different robots which have been simulated so far.

114 citations

Book ChapterDOI
01 Jan 2010
TL;DR: The current state of SSL-Vision is described, i.e. its software architecture as well as the approaches used for image processing and camera calibration, together with the intended process for its introduction and its use beyond the scope of the Small Size League.
Abstract: The current RoboCup Small Size League rules allow every team to set up their own global vision system as a primary sensor. This option, which is used by all participating teams, bears several organizational limitations and thus impairs the league’s progress. Additionally, most teams have converged on very similar solutions, and have produced only few significant research results to this global vision problem over the last years. Hence the responsible committees decided to migrate to a shared vision system (including also sharing the vision hardware) for all teams by 2010. This system – named SSL-Vision – is currently developed by volunteers from participating teams. In this paper, we describe the current state of SSL-Vision, i.e. its software architecture as well as the approaches used for image processing and camera calibration, together with the intended process for its introduction and its use beyond the scope of the Small Size League.

112 citations

Journal Article
TL;DR: SimRobot, a robot simulator which is able to simulate arbitrary user-defined robots in three-dimensional space, is described, which includes a physical model which is based on rigid body dynamics.
Abstract: This paper describes SimRobot, a robot simulator which is able to simulate arbitrary user-defined robots in three-dimensional space. It includes a physical model which is based on rigid body dynamics. To allow an extensive flexibility in building accurate models, a variety of different generic bodies, sensors and actuators has been implemented. Furthermore, the simulator follows an user-oriented approach by including several mechanisms for visualization, direct actuator manipulation, and interaction with the simulated world. To demonstrate the general approach, this paper presents multiple examples of different robots which have been simulated so far.

104 citations

Proceedings ArticleDOI
10 Oct 2009
TL;DR: The combination of a non-invasive EEG-based human-robot interface and an autonomous navigation system that safely executes the issued commands is proposed, allowing severely disabled people who cannot move their arms and legs to steer an automated wheelchair.
Abstract: In order to allow severely disabled people who cannot move their arms and legs to steer an automated wheelchair, this work proposes the combination of a non-invasive EEG-based human-robot interface and an autonomous navigation system that safely executes the issued commands. The robust classification of steady-state visual evoked potentials in brain activity allows for the seamless projection of qualitative directional navigation commands onto a frequently updated route graph representation of the environment. The deduced metrical target locations are navigated to by the application of an extended version of the well-established Nearness Diagram Navigation method. The applicability of the system proposed is demonstrated by a real-world pilot study in which eight out of nine untrained subjects successfully navigated an automated wheelchair, requiring only some ten minutes of preparation.

97 citations

Proceedings ArticleDOI
23 Jun 2009
TL;DR: Altering the translational and rotational velocities in situations where an obstacle blocks the user-commanded way, the driving assistance module significantly improves driver-performance by preventing all collisions along the way.
Abstract: With this work, we encourage the application of smart driving assistance algorithms to support the operator of an automated wheelchair in complex navigational situations. On the basis of an empirical study in which eight untrained subjects performed a given course using a conventional joystick and a proportional head-joystick respectively, we are able to prove benefits resulting from the application of a newly developed driving assistance module. Altering the translational and rotational velocities in situations where an obstacle blocks the user-commanded way, the driving assistance module significantly improves driver-performance by preventing all collisions along the way.

66 citations


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Proceedings ArticleDOI
14 Oct 2008
TL;DR: The proposed collision detection and reactions methods prove to work very reliably and are effective in reducing contact forces far below any level which is dangerous to humans.
Abstract: In the framework of physical human-robot interaction (pHRI), methodologies and experimental tests are presented for the problem of detecting and reacting to collisions between a robot manipulator and a human being. Using a lightweight robot that was especially designed for interactive and cooperative tasks, we show how reactive control strategies can significantly contribute to ensuring safety to the human during physical interaction. Several collision tests were carried out, illustrating the feasibility and effectiveness of the proposed approach. While a subjective ldquosafetyrdquo feeling is experienced by users when being able to naturally stop the robot in autonomous motion, a quantitative analysis of different reaction strategies was lacking. In order to compare these strategies on an objective basis, a mechanical verification platform has been built. The proposed collision detection and reactions methods prove to work very reliably and are effective in reducing contact forces far below any level which is dangerous to humans. Evaluations of impacts between robot and human arm or chest up to a maximum robot velocity of 2.7 m/s are presented.

544 citations

Journal ArticleDOI
TL;DR: An overview of the systematic evaluation of safety in human—robot interaction, covering various aspects of the most significant injury mechanisms is given, including the problem of the quasi-static constrained impact, which could pose a serious threat to the human even for low-inertia robots under certain circumstances.
Abstract: Physical human—robot interaction and cooperation has become a topic of increasing importance and of major focus in robotics research. An essential requirement of a robot designed for high mobility and direct interaction with human users or uncertain environments is that it must in no case pose a threat to the human. Until recently, quite a few attempts were made to investigate real-world threats via collision tests and use the outcome to considerably improve safety during physical human—robot interaction. In this paper, we give an overview of our systematic evaluation of safety in human—robot interaction, covering various aspects of the most significant injury mechanisms. In order to quantify the potential injury risk emanating from such a manipulator, impact tests with the DLR-Lightweight Robot III were carried out using standard automobile crash test facilities at the German Automobile Club (ADAC). Based on these tests, several industrial robots of different weight have been evaluated and the influence of the robot mass and velocity have been investigated. The evaluated non-constrained impacts would only partially capture the nature of human—robot safety. A possibly constrained environment and its effect on the resulting human injuries are discussed and evaluated from different perspectives. As well as such impact tests and simulations, we have analyzed the problem of the quasi-static constrained impact, which could pose a serious threat to the human even for low-inertia robots under certain circumstances. Finally, possible injuries relevant in robotics are summarized and systematically classified.

405 citations

Journal Article
TL;DR: An analysis on expected advantages and also disadvantages of VSA actuators was presented and two VSA joint designs motivated by this analysis were presented.
Abstract: In this article, we gave an overview on the DLR activities related to two approaches for the realization of soft robotics: actively torque-controlled LWRs and VSA. On the basis of our experience with torque-controlled robots, we presented an analysis on expected advantages and also disadvantages of VSA actuators. Furthermore, two VSA joint designs motivated by this analysis were presented. Torque-controlled robots currently represent a technology mature enough for the market, but we believe that impressive research progress can be expected in the area of VSA-actuated robots in the next decade.

340 citations

Journal ArticleDOI
TL;DR: A comprehensive review of the complete systems, key techniques, and evaluation issues of brain-controlled mobile robots along with some insights into related future research and development issues is provided.
Abstract: EEG-based brain-controlled mobile robots can serve as powerful aids for severely disabled people in their daily life, especially to help them move voluntarily. In this paper, we provide a comprehensive review of the complete systems, key techniques, and evaluation issues of brain-controlled mobile robots along with some insights into related future research and development issues. We first review and classify various complete systems of brain-controlled mobile robots into two categories from the perspective of their operational modes. We then describe key techniques that are used in these brain-controlled mobile robots including the brain-computer interface techniques and shared control techniques. This description is followed by an analysis of the evaluation issues of brain-controlled mobile robots including participants, tasks and environments, and evaluation metrics. We conclude this paper with a discussion of the current challenges and future research directions.

324 citations