FG Robotics

29 Items

Recent Submissions
An Integrated Approach to Visual Perception of Articulated Objects -- Data

Roberto, Martín-Martín ; Sebastian, Höfer ; Oliver, Brock (2016)

These are the rosbag files that accompany the ICRA2016 Paper "An Integrated Approach to Visual Perception of Articulated Objects". The rosbags contain RGBD recordings of moving articualted objects such as a drawer or a globe. Additionally there is ground truth information about the shapes of the objects supplied.

Coupled Recursive Estimation for Online Interactive Perception of Articulated Objects -- Online IP Data

Martin-Martin, Roberto (2019-05)

These are the rosbags used to evaluate the approach in "Coupled Recursive Estimation forOnline Interactive Perception of Articulated Objects", IJRR2019

Passive and Active Acoustic Sensing for Soft Pneumatic Actuators - Code and Data

Wall, Vincent ; Zöller, Gabriel ; Brock, Oliver (2020-12)

This data and code accompanies the paper "Passive and Active Acoustic Sensing for Soft Pneumatic Actuators" [1]. Abstract: We propose a sensorization method for soft pneumatic actuators that uses an embedded microphone and speaker to measure relevant actuator states. The physical state of the actuator influences the modulation of sound as it travels through the structure. Using simple machine ...

The RBO dataset of articulated objects and interactions

Martín-Martín, Roberto ; Eppner, Clemens ; Brock, Oliver (2019-08-01)

We present a dataset with models of 14 articulated objects commonly found in human environments and with RGB-D video sequences and wrenches recorded of human interactions with them. The 358 interaction sequences total 67 minutes of human manipulation under varying experimental conditions (type of interaction, lighting, perspective, and background). Each interaction with an object is annotated w...

Active Acoustic Contact Sensing for Soft Pneumatic Actuators

Zöller, Gabriel ; Wall, Vincent ; Brock, Oliver (2020-02)

Supplementary data to our publication Zöller, Gabriel, Vincent Wall, and Oliver Brock. "Active Acoustic Contact Sensing for Soft Pneumatic Actuators." 2020 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2020.

Learning to explore the structure of kinematic objects in a virtual environment

Buckmann, Marcus ; Gaschler, Robert ; Höfer, Sebastian ; Loeben, Dennis ; Frensch, Peter A. ; Brock, Oliver (2015-04-07)

The current study tested the quantity and quality of human exploration learning in a virtual environment. Given the everyday experience of humans with physical object exploration, we document substantial practice gains in the time, force, and number of actions needed to classify the structure of virtual chains, marking the joints as revolute, prismatic, or rigid. In line with current work on sk...

Robust motion generation for mobile manipulation — integrating control and planning under uncertainty

Sieverling, Arne (2019)

This thesis contributes to algorithmic approaches for the motion generation problem for mobile manipulators. This problem is unsolved in unstructured environments, where the robot does not have access to precise models but must infer the state of the world with its sensors. The challenges for motion generation in these problems arise from the uncertainty prevalent in real world sensors, the dif...

Robot grasping by exploiting compliance and environmental constraints

Eppner, Clemens (2019)

Grasping is a crucial skill for any autonomous system that needs to alter the physical world. The complexity of robot grasping stems from the fact that any solution comprises various components: Hand design, control, perception, and planning all affect the success of a grasp. Apart from picking solutions in well-defined industrial scenarios, general grasping in unstructured environment is still...

Strain sensor placement evaluation

Wall, Vincent ; Zöller, Gabriel ; Brock, Oliver (2019-05)

This dataset contains sensor data acquired (pressure, strain, and Motion Capture data) of PneuFlex with various sensor layouts.

Soft hand teleoperation

Erdogan, Can ; Schröder, Armin ; Eppner, Clemens ; Brock, Oliver (2019-05)

The dataset consists of rosbags that contain the cyber-glove and force-torque sensor data of teleoperation experiments.

Stiffness control by cocontraction

Höppner, Hannes (2019-05)

The dataset provides data on the coupling between force and stiffness during pinch-grasping by humans, and the possibility to decouple the coupling by cocontraction. The dataset contains motion tracking data, grip force data and muscle contraction measurements.

RBO Hand 2 simulation model

Pozzi, Maria ; Miguel, Eder ; Deimel, Raphael ; Malvezzi, Monica ; Bickel, Bernd ; Brock, Oliver ; Prattichizzo, Domenico (2019-05)

This dataset contains readily usable FEM models and code for simulating a single PneuFlex actuator, which is used in the RBO Hands.

Co-design of Plan and Environment

Abele, Jessica ; Brock, Oliver (2019-04-08)

This dataset contains CAD models of the designed environment constraints which optimize the wall and corner EC primitives.

Environmental Constraints Exploitation

Páll, Előd ; Abele, Jessica ; Sieverling, Arne ; Eppner, Clemens ; Wortmann, Johannes ; Erdogan, Can ; Brock, Oliver (2019-04-08)

This dataset contains point cloud data of the experimental setup, links to the repositories of EC primitive detectors and grasp planner.

Human hand grasping experiments: raw grasping data

Heinemann, Fabian ; Puhlmann, Steffen ; Eppner, Clemens ; Álvarez-Ruiz, José ; Meartens, Marianne ; Brock, Oliver (2019-05)

This dataset contains grasping data from human grasping experiments. The sensors used are: FT-Sensor (for contact forces), Touchpad (contact traces), MoCap-System (Hand position and orientation), Cyberglove (finger postures).

Human hand grasping experiments: annotated grasps segments

Heinemann, Fabian ; Puhlmann, Steffen ; Eppner, Clemens ; Álvarez-Ruiz, José ; Meartens, Marianne ; Brock, Oliver (2019-05)

This dataset contains segmented labelling data from human hand grasping experiments. The human experiment data was labelled by 3 independent labellers.

State Representation Learning with Robotic Priors for Partially Observable Environments Data

Morik, Marco ; Rastogi, Divyam ; Brock, Oliver (2019)

We introduce Recurrent State Representation Learning (RSRL) to tackle the problem of state representation learning in robotics for partially observable environments. To learn low dimensional state representations, we combine a Long Short Term Memory network with robotic priors. RSRL introduces new priors with landmarks and combines them with existing robotics priors in literature to train the r...

Chip Multiprocessor Traffic Models Providing Consistent Multicast and Spatial Distributions

Tutsch, Dietmar ; Lüdtke, Daniel (2008)

Chip multiprocessors (CMPs) have become the center of attention in recent years. They consist of multiple processor cores on a single chip. These cores are connected on-chip by a bus or, if many cores are involved, by an appropriate network. To investigate how a multicore processor behaves dependent on the chosen network-on-chip topology, a corresponding model must be established for performanc...

Leveraging novel information for coarse-grained prediction of protein motion

Putz, Ines (2018)

Proteins are involved in almost all functions in our cells due to their ability to combine conformational motion with chemical specificity. Hence, information about the motions of a protein provides insights into its function. Proteins move on a rugged energy landscape with many local minima, which is imposed on their high-dimensional conformational space. Exhaustive sampling of this space exce...

EPSILON-CP: using deep learning to combine information from multiple sources for protein contact prediction

Stahl, Kolja ; Schneider, Michael ; Brock, Oliver (2017-06-17)

Background Accurately predicted contacts allow to compute the 3D structure of a protein. Since the solution space of native residue-residue contact pairs is very large, it is necessary to leverage information to identify relevant regions of the solution space, i.e. correct contacts. Every additional source of information can contribute to narrowing down candidate regions. Therefore, recent met...