Organisation: Technische Universität Chemnitz
Address: Reichenhainer Straße 70, 09126 Chemnitz, Germany
Contact: Prof. Dr.-Ing Jozef Suchý (Tel: +49 371/531-33427, jozef.suchy(at)etit.tu-chemnitz.de)
- Alexander Winkler (Hochschule Mittweida)
- Michael Jokesch (TU Chemnitz)
- Daniel Wunschel (TU Chemnitz)
The team members are with the University of Technology Chemnitz (2) and at the University of Applied Science Mittweida (1). The main area of team´s expertise is robotics. In this area we have long experience in compliance control, force/torque control, visual servoing, collaboration of multiple robots, real time trajectory planning, human-robot interaction, sensor based control, security and other topics.
Prof. Jozef Suchý, team leader, is the head of Dept. of Robotic Systems at the TU Chemnitz for 13 years. Prof. Alexander Winkler was with the TU Chemnitz for 12 years and he is now appointed as professor at the University of Applied Science, Mittweida in 2014. His research is focused on sensor based control, especially on force/torque control and impedance control, collision avoidance and human-robot interaction. Michael Jokesch finished his master thesis in 2013 in the field of visual servoing and force/torque control in the Dept. of Robotic Systems. After that he started working at TU Chemnitz in Dept. of Robotic Systems. His work focuses on application of visual servoing also with the LWR iiwa, which is available in the Department of Robotic Systems. Dipl.-Ing. Daniel Wunschel finished his MSc. (Dipl.-Ing.) in 2011 and he is now research assistant at the Faculty of Electrical Engineering and Information Technologies, TU Chemnitz. His research interests are industrial control, mobile robotics, image processing, ROS etc.
The presently named team members make up the core of the team. Beside these team members we can flexibly extend our team by further research assistants of our or other departments, students, members of one or two local SME robotic start-up firms in this stage of simulation contest or later if qualified to the further stage of contest.
The team leader has rather wide expertise on different fields of robotics and control. The first team member has very good theoretical and practical expertise in rather wide area of robotics and control. He performed within his research much experimental work, which could be positioned between applied research and industrial application. Because of great bulk of experimental work both first team members applied for Echord project in 2009. The second team member is experienced in robotics, visual servoing, image processing, force control, LWR iiwa, ROS, etc. In his master thesis he performed beside some theoretical work many experimental activities. The next team member is experienced in different aspects of mobile robotics. These will be useful already in the simulation contest.
In our research and education activities we entered different research fields in robotics. In particular, we collected experience in:
- in visual servoing → object detection, tracking, grasping
- in force/torque and impedance control
- in planning and collision avoidance
- with a real LWR iiwa (research with inserting the electrical plug in socket)
and published above 50 publications on these fields, see our website.
We think that this team configuration would be optimal to manage and perform the work by solving simulation and practical tasks in higher stages of contest. The individual members possess complementary knowledge and expertise in the extent needed for successful participating in the contest. The complementarity between the team members is given by some common general expertise of all of them and by the specialization of nearly each member on some exclusive field.
List of a few published papers:
- A. Kolker, A. Winkler, M.Bdiwi, J.Suchý, Robot Visual Servoing Using the Example of the Inverted Pendulum, 10th IEEE International Multi-Conference on Systems, Signals & Devices, Hammamet, Tunesien, 2013.
- M. Bdiwi, A. Winkler, J. Suchý, Handing-over Model-Free Objects to Human Hand with the Help of Vision/Force Robot Control, 10th IEEE International Multi-Conference on Systems, Signals & Devices, Hammamet, Tunesien, 2013.
- M. Bdiwi, A. Winkler, A. Kolker, J. Suchý, Segmentation of Model-Free Objects Carried by Human Hand: Intended for Human-Robot Interaction Applications, 16th International Conference on Advanced Robotics, Montevideo, Uruguay, 2013, ISBN 978-9974-8194-8-1.
- A. Winkler, J.Suchý, Position Feedback in Force Control of Industrial Manipulators - An Experimental Comparison with Basic Algorithms, IEEE International Symposium on Robotic and Sensors Environments, Magdeburg, 2012, Seiten 31-36, ISBN 978-1-4673-2704-6.
- A. Winkler, J. Suchý, Dynamic Collision Avoidance of Industrial Cooperating Robots Using Virtual Force Fields, 10th International IFAC Symposium on Robot Control, Dubrovnik, Kroatien, 2012, Seiten 265-270.
There are more papers on http://www.tu-chemnitz.de/etit/robosys/publikationen.php.