Zusammenfassung
Diese Arbeit stellt einen neuen Ansatz zur Koordination der Arm- und Handbewegungen eines anthropomorphen Roboterarmes vor. Durch die Verwendung sogenannter Koordinationsobjekte können die von unabhängigen Systemen gesteuerten Bewegungen auf einfache Weise koordiniert werden. Diese Koordinationsobjekte erlauben dabei auch komplexere Koordinationsmuster, wie sie für interaktive oder kooperative Aufgaben erforderlich sind. Solche Aufgaben lassen sich, aufgrund der Zusammenarbeit mit dem Menschen, nicht vollständig vorab planen und müssen deshalb während der Ausftihrung fortwährend koordiniert und synchronisiert werden.
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Osswald, D., Yigit, S., Kerpa, O., Burghart, C., Woern, H. (2003). Arm-Hand-Koordination eines anthropomorphen Roboterarms zur Mensch-Roboter Kooperation. In: Dillmann, R., Wörn, H., Gockel, T. (eds) Autonome Mobile Systeme 2003. Informatik aktuell. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-18986-9_25
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