Persönlicher Status und Werkzeuge

Home People Thomas Ruehr

Videos

Research

Generalized Pick&Place

My research is focused on robotics in the context of AI. What we call Generalized Pick&Place is moving arbitrary objects in an everyday kitchen environment, where the operation of articulated furniture cabinets is necessay as well as bi-manual grasping. A part of my work, I am aiming to provide robust approaches for such Pick&Place actions that improve their robustness and efficiency over time, using e.g. learning techniques and probabilistic models. For doing so, we also work on the bootstrapping, such as opening an unknown cabinet for the first time, modelling its shape etc. and make such information available in a semantic map.

Student Projects

Working mostly on the PR2 platform, I can offer projects in the area of ROS or the PR2 robot and the Point Cloud Library to ambitious students with or without previous experience. The PR2 is a very forgiving platform with a well documented set of software packages, including tutorials that can be completed in simulation - meaning we can get students to working on a real full-fledged Personal Robot very quickly. Apart from the PR2 we just got two Turtlebots that will be used mostly for student projects and teaching.

Publications

2012
Conference and Workshop Papers
CRAM -- a Cognitive Robot Abstract Machine (Michael Beetz, Lorenz Mösenlechner, Moritz Tenorth, Thomas Rühr), In 5th International Conference on Cognitive Systems (CogSys 2012), 2012. [bib] [pdf]
A Generalized Framework for Opening Doors and Drawers in Kitchen Environments (Thomas Rühr, Jürgen Sturm, Dejan Pangercic, Michael Beetz, Daniel Cremers), In IEEE International Conference on Robotics and Automation (ICRA), 2012. [bib] [pdf]
2011
Conference and Workshop Papers
Robotic Roommates Making Pancakes (Michael Beetz, Ulrich Klank, Ingo Kresse, Alexis Maldonado, Lorenz Mösenlechner, Dejan Pangercic, Thomas Rühr, Moritz Tenorth), In 11th IEEE-RAS International Conference on Humanoid Robots, 2011. [bib] [pdf]
Autonomous Semantic Mapping for Robots Performing Everyday Manipulation Tasks in Kitchen Environments (Nico Blodow, Lucian Cosmin Goron, Zoltan-Csaba Marton, Dejan Pangercic, Thomas Rühr, Moritz Tenorth, Michael Beetz), In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2011. [bib] [pdf]
Inferring Generalized Pick-and-Place Tasks from Pointing Gestures (Nico Blodow, Zoltan-Csaba Marton, Dejan Pangercic, Thomas Rühr, Moritz Tenorth, Michael Beetz), In IEEE International Conference on Robotics and Automation (ICRA), Workshop on Semantic Perception, Mapping and Exploration, 2011. [bib] [pdf]
Robotic Roommates Making Pancakes - Look Into Perception-Manipulation Loop (Michael Beetz, Ulrich Klank, Alexis Maldonado, Dejan Pangercic, Thomas Rühr), In IEEE International Conference on Robotics and Automation (ICRA), Workshop on Mobile Manipulation: Integrating Perception and Manipulation, 2011. [bib] [pdf]
Other Publications
A Robot that Shops for and Stores Groceries (Dejan Pangercic, Koppany Mathe, Zoltan-Csaba Marton, Lucian Cosmin Goron, Monica-Simona Opris, Martin Schuster, Moritz Tenorth, Dominik Jain, Thomas Ruehr, Michael Beetz), AAAI Video Competition (AIVC 2011), 2011. [bib]
2010
Journal Articles
Artificial Cognition in Production Systems (M. F. Zaeh, W. Roesel, A. Bannat, T. Bautze, M. Beetz, J. Blume, K. Diepold, C. Ertelt, F. Geiger, T. Gmeiner, T. Gyger, A. Knoll, C. Lau, C. Lenz, M. Ostgathe, G. Reinhart, T. Ruehr, A. Schuboe, K. Shea, I. Stork genannt Wersborg, S. Stork, W. Tekouo, F. Wallhoff, M. Wiesbeck), In IEEE Transactions on Automation Science and Engineering, volume 7, 2010. [bib]
2009
Book Chapters
The Cognitive Factory (Michael F. Zäh, Michael Beetz, Kristina Shea, Gunther Reinhart, K. Bender, Christian Lau, Martin Ostgathe, W. Vogl, Mathey Wiesbeck, Marco Engelhard, Christoph Ertelt, Thomas Rühr, M. Friedrich, S. Herle), Chapter in Changeable and Reconfigurable Manufacturing Systems (H. A. ElMaraghy, ed.), Springer, 2009. [bib]
Conference and Workshop Papers
Constraint-Based Integration of Plan Tracking and Prognosis for Autonomous Production (Paul Maier, Martin Sachenbacher, Thomas Rühr, Lukas Kuhn), In KI 2009: Advances in Artificial Intelligence, 32nd Annual German Conference on AI, Springer, volume 5803, 2009. [bib] [pdf]
Integrated Diagnosis and Plan Assessment for Autonomous Production Processes (Paul Maier, Martin Sachenbacher, Thomas Rühr, Lukas Kuhn), In Proc. of The IJCAI-09 Workshop on Self-* and Autonomous Systems (SAS-2009), 2009. [bib] [pdf]
Integrated Plan Tracking and Prognosis for Autonomous Production Processes (Paul Maier, Martin Sachenbacher, Thomas Rühr, Lukas Kuhn), In Proc. of 14th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA-2009), 2009. [bib] [pdf]
Integrating Model-based Diagnosis and Prognosis in Autonomous Production (Paul Maier, Martin Sachenbacher, Thomas Rühr, Lukas Kuhn), In Proc. First International Conference on Prognostics and Health Management (PHM'09), 2009. (accepted for publication) [bib] [pdf]
Optimization of Simulated Production Process Performance using Machine Learning (Andreas Leha, Dejan Pangercic, Thomas Rühr, Michael Beetz), In Proceedings of Emerging Technologies and Factory Automation (ETFA)., 2009. [bib] [pdf]
Integration of Perception, Global Planning and Local Planning in the Manufacturing Domain (Christoph Ertelt, Thomas Rühr, Dejan Pangercic, Kristina Shea, Michael Beetz), In Proceedings of Emerging Technologies and Factory Automation (ETFA)., 2009. [bib]
2008
Conference and Workshop Papers
An Integrated Approach to Realize the Cognitive Machine Shop (M. F. Zäh, M. Beetz, K. Shea, G. Reinhart, O. Stursberg, M. Ostgathe, C. Lau, C. Ertelt, D. Pangercic, Thomas Rühr, H. Ding, T. Paschedag), In Proceedings of the 1st International Workshop on Cognition for Technical Systems, München, Germany, 6-8 October, 2008. [bib]
Structured Reactive Controllers and Transformational Planning for Manufacturing (Thomas Rühr, Dejan Pangercic, Michael Beetz), In Proceedings of the 13th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), Hamburg, Germany, September 15-18, 2008. [bib] [pdf]
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Last edited 31.01.2013 12:16 by ruehr