Arne Roennau

Arne Roennau
FZI Forschungszentrum Informatik | FZI · FZI Living Lab Service Robotics

Doctor of Engineering

About

146
Publications
59,403
Reads
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1,367
Citations
Additional affiliations
April 2011 - present
FZI Forschungszentrum Informatik
Position
  • Department Manager
November 2008 - April 2011
FZI Forschungszentrum Informatik
Position
  • Researcher
August 2006 - November 2008
FZI Forschungszentrum Informatik
Position
  • Research Assistant
Education
January 2013 - July 2019
Karlsruhe Institute of Technology
Field of study
  • Computer Science - Robotics
October 2002 - November 2008
Karlsruhe Institute of Technology
Field of study
  • Electrical Engineering - Focus on Control and Robotics

Publications

Publications (146)
Conference Paper
Full-text available
The sector of Additive Manufacturing is growing continuously in recent years, creating a wide range of applications such as medical devices and spacecraft parts. As the industry has high demands on the quality of these printed parts, a proper process monitoring is needed to ensure reliable parts while reducing costs. This approach focuses on the Po...
Conference Paper
Speech is a convenient hands-free communication channel where humans are already experienced users. It can implicitly create trustfulness between two operators and lead to a comfortable and natural collaborative environment. As stated in existing literature, speech interaction could increase efficiency and improve certain aspects of Human-Robot Col...
Conference Paper
Full-text available
For robotics, especially industrial applications, itis crucial to reactively plan safe motions through efficient algo-rithms. Planning is more powerful in the configuration spacethan the task space. However, for robots with many degreesof freedom, this is challenging and computationally expensive.Sophisticated techniques for motion planning such as...
Conference Paper
Full-text available
3D printing is nowadays getting more important in industrial production plants, especially in low quantity productions. Currently, almost no printer model for fused filament fabrication (FFF) has the capability to start a new print automatically after the present one is finished. While the printed object is still on the build plate, the printer can...
Article
The programming of manipulators is a common task in robotics, for which numerous solutions exist. In this work, a new programming method related to the common master-slave approach is introduced, in which the master is replaced by a digital twin created through haptic and visual rendering. To achieve this, we present an algorithm that enables the h...
Article
Full-text available
Animal brains still outperform even the most performant machines with significantly lower speed. Nonetheless, impressive progress has been made in robotics in the areas of vision, motion- and path planning in the last decades. Brain-inspired Spiking Neural Networks (SNN) and the parallel hardware necessary to exploit their full potential have promi...
Article
Full-text available
Without neuromorphic hardware, artificial stereo vision suffers from high resource demands and processing times impeding real-time capability. This is mainly caused by high frame rates, a quality feature for conventional cameras, generating large amounts of redundant data. Neuromorphic visual sensors generate less redundant and more relevant data s...
Conference Paper
Full-text available
Additive manufacturing (AM) is increasingly used in production as possibilities like no geometrical constraints, fabrication of complex assemblies in a single piece and fast iteration delivers a huge additional benefit. However, the printing process is still prone to errors, even though the technology is several decades old. Depending on the object...
Conference Paper
Full-text available
Artificial intelligence (AI) technologies can help to greatly improve the usability and performance of an application. Over the last few years, many approaches have been presented on how AI technologies can improve individual steps in an assembly application that uses human-robot collaboration. This paper presents a concept for an AI supported huma...
Conference Paper
Full-text available
Robust and accurate object localization is a key component in the context of robotic grasping. Especially in collaborative assembly scenarios it is important that the robot is able to detect objects precisely to grasp them quickly and reliable. Therefore, classic image-based methods for object localization are not always applicable, as they may exp...
Conference Paper
Deep reinforcement learning (DRL) has had a profound impact in the field of robotic learning, especially in vision-based end-to-end applications. To ensure the robustness and stability of such robotic systems, their vulnerability to possible adversarial attacks must be explored. In this paper we demonstrate the first realistic black-box attack on v...
Article
Full-text available
Evolution gave humans advanced grasping capabilities combining an adaptive hand with efficient control. Grasping motions can quickly be adapted if the object moves or deforms. Soft-grasping with an anthropomorphic hand is a great capability for robots interacting with objects shaped for humans. Nevertheless, most robotic applications use vacuum, 2-...
Conference Paper
Full-text available
A monolithic black-box controller made by the individual robotic manufacturers commonly controls modern industrial robots. The setup's single components are not accessible nor exchangeable, often due to them being specially tuned and adjusted to fulfill the demanding requirements for robotic control. The open-source framework ROS enables to combine...
Chapter
Full-text available
Safe, yet efficient, Human-robot interaction requires real-time-capable and flexible algorithms for robot control including the human as a dynamic obstacle. Even today, methods for collision-free motion planning are often computationally expensive, preventing real-time control. This leads to unnecessary standstills due to safety requirements. As na...
Preprint
Full-text available
In industrial context, admittance control represents an important scheme in programming robots for interaction tasks with their environments. Those robots usually implement high-gain disturbance rejection on joint-level and hide direct access to the actuators behind velocity or position controlled interfaces. Using wrist force-torque sensors to add...
Conference Paper
Full-text available
The use of industrial robots for the production of small scale manufacturing or even single pieces is rarely economical. The high investment of time and money required to teach a collision-free trajectory under consideration of all boundary conditions prevents the usage of robots until now. That is why it is still common practice in the industry fo...
Article
Full-text available
The interaction between robots and humans is of great relevance for the field of neurorobotics as it can provide insights on how humans perform motor control and sensor processing and on how it can be applied to robotics. We propose a spiking neural network (SNN) to trigger finger motion reflexes on a robotic hand based on human sEMG data. The firs...
Conference Paper
Full-text available
The use of additive manufacturing is growing, especially in the small and medium sized enterprise sector. Still, the print process and its quality is prone to errors. Though there exist a variety of visual detection methods for additive manufacturing, acoustic ones are rare to find. This approach will serve as a method to detect acoustic cues and e...
Conference Paper
Full-text available
In a human robot collaboration assembly scenario the human might not follow a given assembly plan for various reason. Therefore the robot is required to adapt it’s behavior to those unpredictable situations. Normally this would require a lot of manual input by a human to reprogram the robot according to this new situation. The focus of this paper i...
Preprint
Full-text available
The endeavor to understand the brain involves multiple collaborating research fields. Classically, synaptic plasticity rules derived by theoretical neuroscientists are evaluated in isolation on pattern classification tasks. This contrasts with the biological brain which purpose is to control a body in closed-loop. This paper contributes to bringing...
Chapter
This chapter gives an in-depth overview of the activities and technical approaches of the team FLA²IR (FZI, MRK, OPEL) during the European Robotic Challenges to develop and deploy a flexible co-worker robot for the mounting of flexible polymer strips to a car door. The team won the EuRoC challenge with their extremely flexible approach that impleme...
Conference Paper
Full-text available
Diseases that cause motor impairment leave people dependent on the help of caregivers or new technologies for their daily tasks. Care robots, for example, could support these patients and help them to gain autonomy in some of their daily activities. In this paper, a robotic assistant is introduced, based on Amyotrophic Lateral Sclerosis’ patients r...
Conference Paper
Full-text available
Depth perception is crucial for many applications including robotics, UAV and autonomous driving. The visual sense, as well as cameras, map the 3D world on a 2D representation, losing the dimension representing depth. A way to recover 3D information from 2D images is to record and join data from multiple viewpoints. In case of a stereo setup, 4D da...
Article
Full-text available
The endeavor to understand the brain involves multiple collaborating research fields. Classically, synaptic plasticity rules derived by theoretical neuroscientists are evaluated in isolation on pattern classification tasks. This contrasts with the biological brain which purpose is to control a body in closed-loop. This paper contributes to bringing...
Article
Full-text available
The human motor system is robust, adaptive and very flexible. The underlying principles of human motion provide inspiration for robotics. Pointing at different targets is a common robotics task, where insights about human motion can be applied. Traditionally in robotics, when a motion is generated it has to be validated so that the robot configurat...
Article
Full-text available
To guarantee safety in a shared work space between humans and robots, flexible robotic motion control is required. Unfortunately, path planning algorithms for complex robotic systems are too computationally expensive to enable a real-time solution on conventional hardware. With the long-term goal of performing a reactive path planning algorithm, we...
Preprint
Full-text available
Robotic automation is a key driver for the advancement of technology. The skills of human workers, however, are difficult to program and seem currently unmatched by technical systems. In this work we present a data-driven approach to extract and learn robot-independent contact skills from human demonstrations in simulation environments, using a Lon...
Preprint
Full-text available
Tracking Cartesian trajectories with end-effectors is a fundamental task in robot control. For motion that is not known a priori, the solvers must find fast solutions to the inverse kinematics (IK) problem for discretely sampled target poses. On joint control level, however, the robot's actuators operate in a continuous domain, requiring smooth tra...
Conference Paper
Full-text available
The main purpose of the human arm is to reach a target and perform a manipulation task. Human babies learn to move their arms by imitating and doing motor babbling through trial and error. This learning is believed to result from changes in synaptic efficacy triggered by complex mechanisms involving neuromodulators in which dopamine plays a key rol...
Conference Paper
Full-text available
Biology has always been a major inspiration for our walking robots. We try to capture what basic ideas can be applied to improve robotic performance, be it biomechanics for organic structural design to make sturdier robots or the complexity of neural networks to achieve new levels of intelligence. This, of course, comes with the price. The design o...
Article
Full-text available
Any visual sensor, whether artificial or biological, maps the 3D-world on a 2D-representation. The missing dimension is depth and most species use stereo vision to recover it. Stereo vision implies multiple perspectives and matching, hence it obtains depth from a pair of images. Algorithms for stereo vision are also used prosperously in robotics. A...
Conference Paper
Full-text available
The focus of this paper is the flexible handling of printed objects; specifically looking at the unloading process of a 3D printed object from the printer's build plate. To design functioning universal gripper fingers 150.000 models were analyzed, in order to calculate an appropriate range of dimensions. To determine the exact position, orientation...
Preprint
Full-text available
Spike-based communication between biological neurons is sparse and unreliable. This enables the brain to process visual information from the eyes efficiently. Taking inspiration from biology, artificial spiking neural networks coupled with silicon retinas attempt to model these computations. Recent findings in machine learning allowed the derivatio...