SIMERO

Sicherheitsstrategien für die Mensch-Roboter-Kooperation
Safety strategies for human-robot cooperation

Abstract

The SIMERO project investigates safety strategies for human/robot coexistence and cooperation. Industrial robots usually do not have sensors that provide overall information about the environment. Obstacles such as humans are not recognized and if collisions occur, this may lead to injury of the human or damage to the robot system. However, for many industrial tasks, it would be very helpful if humans and robots could work together in the same workspace at the same time. The goal of the SIMERO project is to develop safety strategies that allow safe cooperation between industrial manipulators and humans and to implement a demonstration system based on these strategies.

Image-based safety zone surveillance for moving robot segments	The robot acts as a "third hand", moving heavy workpieces while being guided by an human

The project is partially funded by the German research foundation (Deutsche Forschungsgemeinschaft, DFG).

Applications

• Planning for manual or automatic assembly or disassembly of components
• Off-line and on-line programming of industrial robots
• Safe collision-free guidance of (medical or measurement) instruments
• Robot-assisted surgery
• Surveillance of workspaces, museum exhibits and displays
• Optimisation of workspace demands and time usage for production processes
• Maintenance tasks with no stoppage of production
• Cooperative assembly and disassembly

Contact

• Dipl.-Technoinf. Thorsten GECKS
• Dipl.-Inf. Stefan KUHN
• Dipl.-Inf. Markus FISCHER

Pictures

Pictures for press usage are available here: http://www.ai3.uni-bayreuth.de/presse/index.php#simero

Videos

The icons below can be clicked to see the video. The size of the videos is about 5 MB each.

	2009, July		Kuhn, Stefan; Henrich, Dominik (2009) "Multi-View Reconstruction of Unknown Objects in the Presence of Known Occlusions"
	2009, February		Fischer, Markus; Henrich, Dominik (2009) "3D Collision Detection for Industrial Robots and Unknown Obstacles using Multiple Depth Images"
	2008, January		Report on nano (3sat): "Roboter passen auf, einen Menschen nicht zu verletzen"
	2007, November		Gecks, Thorsten; Henrich, Dominik (2007) "Path Planning and Execution in Fast-Changing Environments with Known and Unknown Objects" (International Conference on Intelligent Robots and Systems in San Diego, USA, 29 October – 2 November 2007)
	2007, November		Kuhn, Stefan; Henrich, Dominik (2007) "Fast Vision-Based Minimum Distance Determination Between Known and Unknown Objects" (2007 IEEE International Conference on Intelligent Robots and Systems, San Diego/USA)
	2007		ABB (2007): "Human Robot Interaction"
	2006, September		Distance-based Velocity Control for Safe Human/Robot Coexistence and Cooperation
	2006, July		Kuhn, Stefan; Henrich, Dominik; Gecks, Thorsten (2006) "Velocity control for safe robot guidance based on fused vision and force/torque data" (IEEE Conference on Multisensor Fusion and Integration for Intelligent Systems, Heidelberg, Germany, September 03-06, 2006)
	2006, July		Kuhn, Stefan; Henrich, Dominik; Gecks, Thorsten (2006) "Velocity control for safe robot guidance based on fused vision and force/torque data" (IEEE Conference on Multisensor Fusion and Integration for Intelligent Systems, Heidelberg, Germany, September 03-06, 2006)
	2005, August		Gecks, Thorsten; Henrich, Dominik (2005) "Human-robot cooperation: Safe Pick-and-Place Operations" (14th IEEE International Workshop on Robot and Human Interactive Communication, August 13-15, 2005, Nashville, Tennessee USA)
	2003, July		Ebert, Dirk (2003) "Bildbasierte Erzeugung kollisionsfreier Transferbewegungen für Industrieroboter" (Schriftenreihe Informatik, Band 12, ISBN 3-936890-23-4)

Publications

• Kuhn, Stefan ; Henrich, Dominik (2009)
  "Multi-View Reconstruction of Unknown Objects within a Known Environment"
  (5th International Symposium on Visual Computing (ISVC 2009))
  The original publication is available at www.springerlink.com
  
• Fischer, Markus ; Henrich, Dominik (2009)
  "Surveillance of Robots using Multiple Colour or Depth Cameras with Distributed Processing"
  (Third ACM/IEEE International Conference on Distributed Smart Cameras (ICDSC 2009), Aug 30 – Sep 02, 2009, Como/Italy)
  
• Kuhn, Stefan ; Henrich, Dominik (2009)
  "Multi-View Reconstruction of Unknown Objects in the Presence of Known Occlusions"
  (http://opus.ub.uni-bayreuth.de/volltexte/2009/576/)
  
• Gecks, Thorsten ; Henrich, Dominik (2009)
  "Sensor-based Online Planning of Time-optimized Paths in Dynamic Environments"
  (GWR09 German Workshop on Robotics, Braunschweig, Germany, June 9-10, 2009)
  
• Fischer, Markus ; Henrich, Dominik (2009)
  "3D Collision Detection for Industrial Robots and Unknown Obstacles using Multiple Depth Images"
  (German Workshop on Robotics – GWR 2009, June 9-10, Braunschweig/Germany)
  
• Henrich, Dominik ; Gecks, Thorsten (2008)
  "Multi-camera Collision Detection between Known and Unknown Objects"
  (2nd ACM/IEEE International Conference on Distributed Smart Cameras – ICDSC 2008, Sept 7–11, Stanford/USA)
  
• Henrich, Dominik ; Fischer, Markus ; Gecks, Thorsten ; Kuhn, Stefan (2008)
  "Sichere Mensch/Roboter-Koexistenz und Kooperation"
  (ROBOTIK 2008, München)
  
• Kuhn, Stefan ; Henrich, Dominik (2007)
  "Fast Vision-Based Minimum Distance Determination Between Known and Unknown Objects"
  (2007 IEEE International Conference on Intelligent Robots and Systems, San Diego/USA)
  
• Gecks, Thorsten ; Henrich, Dominik (2007)
  "Path Planning and Execution in Fast-Changing Environments with Known and Unknown Obstacles"
  (International Conference on Intelligent Robots and Systems in San Diego, USA, 29 October – 2 November 2007)
  
• Kuhn, Stefan ; Gecks, Thorsten ; Henrich, Dominik (2006)
  "Velocity control for safe robot guidance based on fused vision and force/torque data"
  (IEEE Conference on Multisensor Fusion and Integration for Intelligent Systems, Heidelberg, Germany, September 03-06, 2006)
  
• Henrich, Dominik ; Kuhn, Stefan (2006)
  "Modeling Intuitive Behavior for Safe Human/Robot Coexistence and Cooperation"
  (IEEE International Conference on Robotics and Automation, Orlando, Florida, USA, May 15 - 19, 2006)
  
• Gecks, Thorsten ; Henrich, Dominik (2006)
  "Multi-Camera Collision Detection allowing for Object Occlusions"
  (37th International Symposium on Robotics (ISR 2006) / 4th German Conference on Robotics (Robotik 2006); München, Germany May 15th to 17th, 2006)
  
• Gecks, Thorsten ; Henrich, Dominik (2005)
  "Human-robot cooperation: Safe Pick-and-Place Operations"
  (14th IEEE International Workshop on Robot and Human Interactive Communication, August 13-15, 2005, Nashville, Tennessee USA)
  
• Henrich, Dominik ; Ebert, Dirk ; Gecks, Thorsten (2004)
  "Bildbasierte Kollisionstests für Randomized-Roadmap-Bahnplaner"
  (VDI Robotik 2004, München, Deutschland, June 17.-18., 2004)
  
• Gecks, Thorsten ; Henrich, Dominik (2004)
  "SIMERO: Camera Supervised Workspace for Service Robots"
  (ASER 2004, 2nd Workshop on Advances in Service Robotics, Feldafing, Germany, 20-21 May 2004)
  
• Ebert, Dirk (2003)
  "Bildbasierte Erzeugung kollisionsfreier Transferbewegungen für Industrieroboter"
  (Schriftenreihe Informatik, Band 12, ISBN 3-936890-23-4)
  
• Stolka, Philipp ; Henrich, Dominik (2003)
  "A Hybrid Force Following Controller For Multi-Scale Motions"
  (SYROCO 2003 - 7th International Symposium on Robot Control, Sept 1-3, 2003 - Wrocław/Poland)
  
• Ebert, Dirk ; Henrich, Dominik (2003)
  "SIMERO: Sichere Mensch-Roboter-Koexistenz"
  (2. Workshop für OTS-Systeme in der Robotik - Mensch und Roboter ohne trennende Schutzsysteme", Fraunhofer IRB, S. 119-134, Stuttgart, 24. Juni 2003)
  
• Ebert, Dirk ; Henrich, Dominik (2002)
  "Safe Human-Robot-Cooperation: Image-based Collision Detection for Industrial Robots"
  (IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, September 30th-October 5th, 2002)
  
• Ebert, Dirk ; Henrich, Dominik (2002)
  "Sicherheitsstrategien für die Mensch-Roboter-Kooperation - Das SIMERO-System"
  (OTS-Systeme in der Robotik, OTS 2002, München, Germany)
  
• Ebert, Dirk ; Henrich, Dominik (2001)
  "Safe Human-Robot-Cooperation: Problem Analysis, System Concept and Fast Sensor Fusion"
  (IEEE Conference on Multisensor Fusion and Integration for Intelligent Systems, Baden-Baden, Germany, August 20-22, 2001)
  

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