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Acquiring Change Models for Sensor-Based Robot Manipulation
Jan Deiterding , Dominik Henrich

Abstract (english)
The aim of this paper is to enable a programmer to easily employ external sensors for flexible robot manipulation. We describe a general approach to determine the relation between the position deviation of an object and the resulting data from sensors used to recognize this deviation. This information can be used to employ adaptation techniques to compensate the deviation thus enabling robots to react flexibly to changes such as workspace variations or object drifts. The proposed methods are designed to be independent of the type of sensor. We describe methods to automatically determine a function describing this relation and how adaptive techniques can be integrated easily into robot programs without detailed knowledge provided by the programmer.

Publication data

Year: 2008
Publication date: 19. May 2008
Place: Pasadena, California
Source: 2008 IEEE International Conference on Robotics and Automation, Pasadena/USA
Project: A-BOT
Keywords (english): adaptive systems , industrial robots , off-line programming , on-line algorithms , optimization methods , robot calibration , sensor-based programming


  TITLE             = "Acquiring Change Models for Sensor-Based Robot Manipulation",
  AUTHOR            = "Deiterding, Jan and Henrich, Dominik",
  YEAR              = "2008",
  JOURNAL           = "2008 IEEE International Conference on Robotics and Automation, Pasadena/USA",
  HOWPUBLISHED      = "\url{}",


Filename   Size   Language   Format
deiterding2008a.Acquiring.Change.Models.for.SensorBased.Robot.Manipulation.pdf   1.2M   deutsch   PDF   download preprint

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