Abstract
Robot viewers are an important tool for robot developers, programmers and users. This article presents interactive visual features that can be used for robot viewers, including rotating arrows for torque controlled serial robots and special positioned textfields for numerically displaying joint parameters. The presented features support intuitive interaction modes such that the displayed content can be switched or their visibility can be toggled. With these features the DLR SeRo-Viewer has been developed, which aims at minimizing the efforts for integrating new robots in the visualization system, and at the same time being flexible enough to visualize various robotic systems. The SeRo-Viewer has already been successfully applied on several robotic systems.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Quigley, M., Conley, K., Gerkey, B.P., Faust, J., Foote, T., Leibs, J., Wheeler, R., Ng, A.Y.: ROS: an open-source robot operating system. In: IEEE Int. Conf. on Robotics and Automation (ICRA) Workshop on Open Source Software (2009)
Diankov, R.: Automated Construction of Robotic Manipulation Programs. PhD thesis, Carnegie Mellon University, Robotics Institute (2010)
Miller, A., Allen, P., Santos, V., Valero-Cuevas, F.: From robot hands to human hands: A visualization and simulation engine for grasping research. Industrial Robot 32, 55–63 (2005)
Hirukawa, H., Kanehiro, F., Kajita, S.: OpenHRP: Open architecture humanoid robotics platform. In: Jarvis, R., Zelinsky, A. (eds.) Robotics Research. Springer Tracts in Advanced Robotics, vol. 6, pp. 99–112. Springer, Heidelberg (2003)
http://www.peekabot.org (2011)
ABB Robotics: Operating Manual RobotStudio, Västerås, Sweden (2007)
KUKA Robotics Corporation: Robotic simulation (2006) white paper
Freund, E., Hypki, A., Pensky, D.: New architecture for corporate integration of simulation and production control in industrial applications. In: Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 806–811 (2001)
Brunner, B., Landzettel, K., Schreiber, G., Steinmetz, B., Hirzinger, G.: A universal task level ground control and programming system for space robot applications - the MARCO concept and it’s application to the ETS VII project. In: Proc. of the Int. Symp. on Artifical Intelligence, Robotics, and Automation in Space (iSAIRAS), Noordwijk, The Netherlands (1999)
Zacharias, F., Borst, C., Hirzinger, G.: Capturing robot workspace structure: representing robot capabilities. In: Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Nice, France, pp. 3229–3236 (2007)
Bellmann, T.: Interactive simulations and advanced visualization with modelica. In: Casella, F. (ed.) Proc. of the Int. Modelica Conference, vol. 7, Linköping University Electronic Press, Como (2009)
Brutzman, D., Daly, L.: X3D: extensible 3D graphics for Web authors. Morgan Kaufmann series in interactive 3D technology. Elsevier/Morgan Kaufmann (2007)
Behr, J., Dähne, P., Jung, Y., Webel, S.: Beyond the web browser - X3D and immersive VR. In: Proc. of IEEE Symp. on 3D User Interfaces (3DUI), Charlotte, North Carolina, USA (2007)
Hulin, T., Schmirgel, V., Yechiam, E., Zimmermann, U., Preusche, C., Pöhler, G.: Evaluating exemplary training accelerators for programming-by-demonstration. In: Proc. IEEE Int. Symp. In: Robot and Human Interactive Communication (Ro-Man), Viareggio, Italy, pp. 467–472 (2010)
Hirzinger, G., Sporer, N., Schedl, M., Butterfaß, J., Grebenstein, M.: Torque-controlled lightweight arms and articulated hands: Do we reach technological limits now? The International Journal of Robotics Research 23, 331–340 (2004)
Craig, J.J.: Introduction to Robotics Mechanics and Control, 2nd edn. Addison-Wesley Publishing Company, Inc., USA (1989)
Borst, C., Ott, C., Wimböck, T., Brunner, B., Zacharias, F., Bäuml, B., Hillenbrand, U., Haddadin, S., Albu-Schäffer, A., Hirzinger, G.: A humanoid upper body system for two-handed manipulation. In: Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA)., vol. 2, pp. 2766–2767 (2007)
Borst, C., Wimböck, T., Schmidt, F., Fuchs, M., Brunner, B., Zacharias, F., Giordano, P.R., Konietschke, R., Sepp, W., Fuchs, S., Rink, C., Albu-Schäffer, A., Hirzinger, G.: Rollin’ justin - mobile platform with variable base. In: Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 1597–1598 (2009)
Hulin, T., Hertkorn, K., Kremer, P., Schätzle, S., Artigas, J., Sagardia, M., Zacharias, F., Preusche, C.: The DLR bimanual haptic device with optimized workspace. In: Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), Shanghai, China, pp. 3441–3442 (2011)
Liu, H., Meusel, P., Hirzinger, G., Jin, M., Liu, Y., Xie, Z.: The modular multisensory DLR-HIT-Hand: Hardware and software architecture. IEEE/ASME Transactions on Mechatronics 13, 461–469 (2008)
Roa, M.A., Hertkorn, K., Borst, C., Hirzinger, G.: Reachable independent contact regions for precision grasps. In: Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), Shanghai, China, pp. 5337–5343 (2011)
Ott, C., Baumgärtner, C., Mayr, J., Fuchs, M., Burger, R., Lee, D., Eiberger, O., Albu-Schäffer, A., Grebenstein, M., Hirzinger, G.: Development of a biped robot with torque controlled joints. In: Proc. of the IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids), Nashville, Tennessee, USE, pp. 167–173 (2010)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2012 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Hulin, T., Hertkorn, K., Preusche, C. (2012). Interactive Features for Robot Viewers. In: Su, CY., Rakheja, S., Liu, H. (eds) Intelligent Robotics and Applications. ICIRA 2012. Lecture Notes in Computer Science(), vol 7508. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33503-7_19
Download citation
DOI: https://doi.org/10.1007/978-3-642-33503-7_19
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-33502-0
Online ISBN: 978-3-642-33503-7
eBook Packages: Computer ScienceComputer Science (R0)