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Rüdiger Dillmann

Rüdiger Dillmann
Karlsruhe Institute of Technology and FZI

Dr.-Ing. habil.
Research Planning, Technology Transfer, Consulting

About

1,035
Publications
211,783
Reads
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16,695
Citations
Citations since 2016
119 Research Items
7585 Citations
201620172018201920202021202202004006008001,0001,200
201620172018201920202021202202004006008001,0001,200
201620172018201920202021202202004006008001,0001,200
201620172018201920202021202202004006008001,0001,200
Additional affiliations
March 1987 - present
FZI Forschungszentrum Informatik
Position
  • Research Director
March 1986 - present
Karlsruhe Institute of Technology
Position
  • Professor (Full)
January 1980 - January 2017
Karlsruhe Institute of Technology
Position
  • Professor (Full)

Publications

Publications (1,035)
Chapter
In recent times, the distribution of mobile walking robots has increased sharply due to their high availability. To utilize the increased mobility of these robots, autonomous navigation algorithms require fast and accurate volumetric maps, generated by the sensors of the robot. Usually these maps have to be transferred between different systems, li...
Chapter
In this paper, we review monolithic and reconfigurable modular robotic systems, focusing on configuration detection and legged locomotion. The focus of the review lies on the realization of a robotic system consisting of autonomous robotic legs with integrated PC and power units and grants a specialized look at embodiment for such robots. We furthe...
Chapter
Dynamic walking with six-legged robots is a fascinating but also demanding challenge, both for hard- and software. Modern approaches for dynamic walking require high resolution input on time and measurement accuracy in their feet to keep balanced. Multiplied with the number of their feet, force sensors with an adequate measurement range are heavy,...
Article
Full-text available
Robots show impressive flexibility and reliability in various applications. This makes them suitable to help and support humans in hazardous environments. They can handle dangerous, unknown objects with no risk for the operator’s health. In this work we present a shared operation approach for the identification and localization of unknown hazardous...
Article
Robots are brought to more and more remote locations. Not only worldwide, but also in- and outside our solar system. They have proven to be a great tool to get tasks done without endangering humans in life-hostile environments. One downside of those environments and locations is the impossibility of repairs and mechanical maintenance. Inspired by i...
Preprint
Full-text available
We present a biologically inspired approach for path planning with dynamic obstacle avoidance. Path planning is performed in a condensed configuration space of a robot generated by self-organizing neural networks (SONN). The robot itself and static as well as dynamic obstacles are mapped from the Cartesian task space into the configuration space by...
Article
The human brain surpass conventional computer architectures in regard to energy efficiency, robustness, connectivity and adaptivity. These aspects are inspiring today’s emerging biomorphic technologies into both directions, software tools, and hardware systems. Thus, it is worthwhile to investigate into biological processes which enable the brain t...
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...
Preprint
Full-text available
Motion planning in the configuration space (C-space) induces benefits, such as smooth trajectories. It becomes more complex as the degrees of freedom (DOF) increase. This is due to the direct relation between the dimensionality of the search space and the DOF. Self-organizing neural networks (SONN) and their famous candidate, the Self-Organizing Ma...
Preprint
Full-text available
A key factor in the economic efficiency of satellites is their availability in orbit. Replacing standardized building blocks, such as empty fuel tanks or outdated electronic modules, could greatly extend the satellites' lifetime. This, however, requires flexible robots that can locomote on the surface of these satellites for optimal accessibility a...
Preprint
Full-text available
Assistive robotic manipulators are becoming increasingly important for people with disabilities. Teleoperating the manipulator in mundane tasks is part of their daily lives. Instead of steering the robot through all actions, applying self-recorded motion skills could greatly facilitate repetitive tasks. Dynamic Movement Primitives (DMP) are a power...
Chapter
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...
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
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
Surgical intervention at the cervical spine is one of the most difficult interventions in surgery. Special care must be taken to the sensitive anatomy around e.g. the trachea, oesophagus, arteries and spinal nerves. This paper presents a novel approach in neurosurgical navigation which takes into account these structures in the cervical region by c...
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
The editorial link established between the IEEE TRANSACTIONS ON MEDICAL ROBOTICS AND BIONICS (T-MRB) and the IEEE International Conference on Cyborg and Bionic Systems (CBS) is now in its second year.
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...
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...