06.11.2008: 6D-6DOF Inverse Kinematics demo on Zora and a KUKA-like robot.

20.10.2008: Installed the hand palm camera on Zora's gripper that we want to use for Visual Servoing.

16.09.2008: Export of 3D models from the simulator is now working, check out Zora 3D Models to see Zora in 3D (vrml and pdf).

17.07.2008: Visualization of the measures torques and forces in Zora's FCTL Sensor.

11.07.2008: First (manual) and second grasp (using IK) of the grasp extension in the simulator.

09.07.2008: Visualization of the workspace of our 6DOF manipulator, computed using the pseudo-inverse IK algorithm on a grid of 16 x 16 x 16 cells. A red box means that the given cell can be reached without collisions with at least one approach angle. The more green the box is visualized, the larger is the set of possible approach angles.

14.06.2008: 6D-6DOF Inverse Kinematics demo using the Damped Least Squares method. The rotational and translational errors are below 1mm and 1deg, respectively, requiring on average between 5-10 iterations.

13.06.2008: 3D-6DOF Inverse Kinematics demo using the Pseudo Inverse method.

02.06.2008: 3D-6DOF Inverse Kinematics demo using the Jacobian Transpose method and Denavit-Hartenberg parametrization.

07.05.2008: Short demo video of the Weiss Robotics touch sensor fingers installed in Zora's gripper.

30.04.2008: Video of the new 6-DOF manipulator moving without collision. Again, by using our approach, the manipulator can monitor and maintain its body schema through self-observation.

10.04.2008: Video of the carrera race track recorded from an onboard camera.

19.03.2008: Added simple collision checking to the simulator.

12.03.2008: Construction videos of new Zora robot, day 1 and day 2.

18.12.2007: Joint stuck demo with simulated 4-DOF manipulator.

17.12.2007: Demo video of a robot that dynamically replaces parts of its body scheme after it gets deformed by some external force. The robot uses its internal model to follow a given sequence of markers arranged in an ellipse in the robot's workspace. Blue limbs correspond to the initial geometrical (CAD) model; red limbs indicate a mismatch between selfmodel and perception; and green limbs indicate dynamically acquired parts of the body scheme. Same demo, but with artificial noise.

06.12.2007: Demo video showing a robot that with limited marker visibility. The robot can't perceive the marker tags that lie behind his back. Still, the robot can create a joint body model that relates body parts that could never be perceived together.

04.12.2007: Demo video of a 1D robot manipulator learning its body scheme. The perception has high noise values in z-direction; this is modeled as uncertainty in z-direction.

24.10.2007: Talk at the weekly Robotics Reading Groups of AIS. I presented the work of me and Christian on Body Scheme Learning. presentation video

18.10.2007: Video of the experiments on 3D body schema estimation from SURF features.

12.06.2007: Zora++, a simple add-on for the Carmen framework, has been released for testing to the Carmen Freiburg repository. It provides C++ wrapper classes for Carmen messages, and C++ handler classes that send/receive those messages via IPC and logfile streams. A set of macros is defined that can be used to easily create new messages (and their corresponding handler) classes.

12.03.2007: Talk at the weekly Robotics Reading Group of AIS, where I presented the work of my master thesis along with the preliminary research concerning Sensor-motor bootstrapping using Bayesian Networks. visual-compass-germany.ppt