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.

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

M.Sc. Tobias Werner

Pictures

Pictures for press usage

Videos

Press releases

• Sichere Zusammenarbeit von Mensch und Roboter — Neues DFG-Projekt bewilligt
  (06. September 2005)
• Teamwork — Kamerasystem ermöglicht sichere Mensch/Roboter-Kooperation
  (02. February 2007)
• Wie Mensch und Roboter zusammenarbeiten können — Bayreuther Informatiker entwickelt neuen Ansatz zur Intentionserkennung
  (Blick in die Forschung 23/2010, 26. August 2010)

Wanted

Student Jobs / Open Positions

Publications

• Tobias Werner; David Harrer; Dominik Henrich; (2019)
  Efficient, Risk-Encoding Octrees For Path Planning With A Robot Manipulator
  (28th International Conference on Robotics in Alpe-Adria-Danube Region (RAAD))
  Best Paper Award, Student Category, 3rd Place
• Tobias Werner; Dominik Henrich; Maximilian Sand; (2018)
  Sparse and Precise Reconstruction of Static Obstacles for Real-Time Path Planning in Human-Robot Workspaces
  (50th International Symposium on Robotics (ISR))
• Tobias Werner; David Harrer; Dominik Henrich; (2018)
  Efficient, Precise, and Convenient Calibration of Multi-Camera Systems by Robot Automation
  (27th International Conference on Robotics in Alpe-Adria-Danube Region (RAAD))
• Kim Wölfel; Dominik Henrich; Tobias Werner; (2018)
  GroundSim: Animating Human Agents for Validated Workspace Monitoring
  (Tagungsband des 3. Kongresses Montage Handhabung Industrieroboter)
  https://doi.org/10.1007/978-3-662-56714-2_23
• Tobias Werner; Josua Bloeß; Dominik Henrich; (2017)
  Neural Networks for Real-Time, Probabilistic Obstacle Detection
  (26th International Conference on Robotics in Alpe-Adria-Danube Region (RAAD))
• Tobias Werner; Dominik Henrich; Dominik Riedelbauch; (2017)
  Design and Evaluation of a Multi-Agent Software Architecture for Risk-Minimized Path Planning in Human-Robot Workcells
  (Tagungsband des 2. Kongresses Montage Handhabung Industrieroboter)
  Best Paper Award
• Antje Ober-Gecks; Dominik Henrich; Marius Zwicker; (2016)
  Efficient graphics processing unit–based voxel carving for surveillance
  (Journal of Electronic Imaging)
  http://dx.doi.org/10.1117/1.JEI.25.4.041011
• Tobias Werner; Michael Gradmann; Dominik Henrich; Eric M. Orendt; Maximilian Sand; Michael Spangenberg; (2016)
  ENACT: An Efficient and Extensible Entity-Actor Framework for Modular Robotics Software Components
  (47th International Symposium on Robotics (ISR))
• Maria Hänel; (2015)
  A Matter of Perspective – Three-dimensional Placement of Multiple Cameras to Maximize their Coverage
  https://epub.uni-bayreuth.de/2486
• Antje Ober-Gecks; Dominik Henrich; Marius Zwicker; (2014)
  Efficient GPU Photo Hull Reconstruction for Surveillance
  (Proceedings of the International Conference on Distributed Smart Cameras, ICDSC'14)
• Tobias Werner; Dominik Henrich; (2014)
  Efficient and Precise Multi-Camera Reconstruction
  (Eighth ACM/IEEE International Conference on Distributed Smart Cameras (ICDSC))
• Antje Ober-Gecks; Maria Hänel; Dominik Henrich; Tobias Werner; (2014)
  Fast multi-camera reconstruction and surveillance with human tracking and optimized camera configurations
  (45th International Symposium on Robotics (ISR) and 8th German Conference on Robotics (ROBOTIK))
• Stefan Kuhn; (2012)
  Wissens- und sensorbasierte geometrische Rekonstruktion
  https://epub.uni-bayreuth.de/id/eprint/190
• Maria Hänel; Lars Grüne; Dominik Henrich; Stefan Kuhn; Jürgen Pannek; (2012)
  Optimal Camera Placement to Measure Distances Regarding Static and Dynamic Obstacles
  (International Journal of Sensor Networks)
• Maria Hänel; Markus Fischer; Dominik Henrich; Stefan Kuhn; (2012)
  Sensor- and Plausibility-based Surveillance of Human/Robot-Workspaces
  (7th German Conference on Robotics)
• Thorsten Gecks; (2011)
  Sensorbasierte, echtzeitfähige Online-Bahnplanung für die Mensch-Roboter-Koexistenz
  https://epub.uni-bayreuth.de/333
• Maria Hänel; (2010)
  Optimierung von Kamerapositionen zur ̈ Uberwachung teils unbekannter Umgebungen
• Dominik Henrich; (2010)
  Verfahren und System zur Überwachung eines dreidimensionalen Raumbereichs mit mehreren Kameras
• Stefan Kuhn; Dominik Henrich; (2010)
  Multi-View Reconstruction in-between Known Environments
  (http://opus.ub.uni-bayreuth.de/volltexte/2010/661/)
• Stefan Kuhn; Dominik Henrich; (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
• Markus Fischer; Dominik Henrich; (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 )
• Stefan Kuhn; Dominik Henrich; (2009)
  Multi-View Reconstruction of Unknown Objects in the Presence of Known Occlusions
  (http://opus.ub.uni-bayreuth.de/volltexte/2009/576/)
• Markus Fischer; Dominik Henrich; (2009)
  3D Collision Detection for Industrial Robots and Unknown Obstacles using Multiple Depth Images
  (German Workshop on Robotics )
• Thorsten Gecks; Dominik Henrich; (2009)
  Sensor-based Online Planning of Time-optimized Paths in Dynamic Environments
  (GWR09 German Workshop on Robotics, Braunschweig, Germany, June 9-10, 2009)
• Dominik Henrich; (2009)
  Kooperation von Mensch und Roboter
  (Spektrum 1/09 der Universität Bayreuth)
  http://www.uni-bayreuth.de/presse/spektrum/spektrum-pdf/ausgabe_01_09.pdf
• Dominik Henrich; Thorsten Gecks; (2008)
  Multi-camera Collision Detection between Known and Unknown Objects
  (2nd ACM/IEEE International Conference on Distributed Smart Cameras )
• Dominik Henrich; Markus Fischer; Thorsten Gecks; Stefan Kuhn; (2008)
  Sichere Mensch/Roboter-Koexistenz und Kooperation
  (ROBOTIK 2008, München)
• Stefan Kuhn; Dominik Henrich; (2007)
  Fast Vision-Based Minimum Distance Determination Between Known and Unknown Objects
  (2007 IEEE International Conference on Intelligent Robots and Systems, San Diego/USA)
• Thorsten Gecks; Dominik Henrich; (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 )
• Stefan Kuhn; Thorsten Gecks; Dominik Henrich; (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)
• Dominik Henrich; Stefan Kuhn; (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)
• Thorsten Gecks; Dominik Henrich; (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)
• Thorsten Gecks; Dominik Henrich; (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)
• Dominik Henrich; Dirk Ebert; Thorsten Gecks; (2004)
  Bildbasierte Kollisionstests für Randomized-Roadmap-Bahnplaner
  (VDI Robotik 2004, München, Deutschland, June 17.-18., 2004)
• Thorsten Gecks; Dominik Henrich; (2004)
  SIMERO: Camera Supervised Workspace for Service Robots
  (ASER 2004, 2nd Workshop on Advances in Service Robotics, Feldafing, Germany, 20-21 May 2004)
• Dirk Ebert; (2003)
  Bildbasierte Erzeugung kollisionsfreier Transferbewegungen für Industrieroboter
  (Schriftenreihe Informatik, Band 12, ISBN 3-936890-23-4)
• Philipp Stolka; Dominik Henrich; (2003)
  A Hybrid Force Following Controller For Multi-Scale Motions
  (SYROCO 2003 - 7th International Symposium on Robot Control, Sept 1-3, 2003 - Wroc)
• Dirk Ebert; Dominik Henrich; (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)
• Dirk Ebert; Dominik Henrich; (2002)
  Sicherheitsstrategien für die Mensch-Roboter-Kooperation - Das SIMERO-System
  (OTS-Systeme in der Robotik, OTS 2002, München, Germany)
• Dirk Ebert; Dominik Henrich; (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)
• Dirk Ebert; Dominik Henrich; (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)