http://dl.gi.de/handle/20.500.12116/11100 Thu, 10 Sep 2026 21:43:21 GMT 2026-09-10T21:43:21Z http://dl.gi.de/handle/20.500.12116/11537 An Object Template Approach to Manipulation for Humanoid Avatar Robots for Rescue Tasks Romay, Alberto; Kohlbrecher, Stefan; Stryk, Oskar von Nowadays, the first steps towards the use of remote mobile robots to perform rescue tasks in disaster environments have been made possible. However, these environments still present several challenges for robots, which open new possibilities for research and development. For example, fully autonomous robots are not yet suitable for such tasks with high degree of uncertainty, and pure teloperated robots require high expertise and high mental workload, as well as fast communication to be reliable. In this paper, we discuss a middle ground approach to manipulation, that leverages the strengths and abilities of a human supervisor and a semi-autonomous robot while at the same tackling their weaknesses. This approach is based on the object template concept, which provides an interaction method to rapidly communicate to a remote robot the physical and abstract information for manipulation of the objects of interest. This approach goes beyond current grasp-centered approaches by focusing on the affordance information of the objects and providing flexibility to solve manipulation tasks in versatile ways. Experimental evaluation of the approach is performed using two highly advanced humanoid robots. Fri, 01 Jan 2016 00:00:00 GMT http://dl.gi.de/handle/20.500.12116/11537 2016-01-01T00:00:00Z http://dl.gi.de/handle/20.500.12116/11552 From RoboCup Rescue to Supervised Autonomous Mobile Robots for Remote Inspection of Industrial Plants Kohlbrecher, Stefan; Stryk, Oskar von With increasing capabilities and reliability of autonomous mobile robots, inspection of remote industrial plants in challenging environments becomes feasible. With the ARGOS challenge, oil and gas company TOTAL S.A. initiated an international competition aimed at the development of the first autonomous mobile robot which can safely operate in complete or supervised autonomy over the entire onshore or offshore production site, potentially in hazardous explosive atmospheres and harsh conditions. In this work, the approach of joint Austrian–German Team ARGONAUTS towards solving this challenge is introduced, focussing on autonomous capabilities. These build on functional components developed during prior participation in the RoboCup Rescue Robot League. Fri, 01 Jan 2016 00:00:00 GMT http://dl.gi.de/handle/20.500.12116/11552 2016-01-01T00:00:00Z http://dl.gi.de/handle/20.500.12116/11542 Knowledge-Based Instrumentation and Control for Competitive Industry-Inspired Robotic Domains Niemueller, Tim; Zug, Sebastian; Schneider, Sven; Karras, Ulrich Autonomy is an increasing trend in manufacturing industries. Several industry-inspired robotic competitions have been established in recent years to provide testbeds of comprehensible size. In this paper, we describe a knowledge-based instrumentation and control framework used in several of these competitions. It is implemented using a rule-based production system and creates the task goals for autonomous mobile robots. It controls the environment’s agency using sensor data from processing stations and instructs proper reactions. The monitoring and collection of various data allows for an effective instrumentation of the competitions for evaluation purposes. The goal is to achieve automated runs with no or as little human intervention as possible which would allow for more and longer lasting runs. It provides a general framework adaptable to suit many scenarios and is an interesting test case for knowledge-based systems in an industry-inspired setting. Fri, 01 Jan 2016 00:00:00 GMT http://dl.gi.de/handle/20.500.12116/11542 2016-01-01T00:00:00Z http://dl.gi.de/handle/20.500.12116/11540 16 Years of RoboCup Rescue Sheh, Raymond; Schwertfeger, Sören; Visser, Arnoud The RoboCup Rescue competitions have been initiated in 2000. To celebrate 16 years of research and development in this socially relevant initiative this article gives an overview of the experience gained during these competitions. This article provides an overview the state-of-the-art and the lessons learned from the RoboCup Rescue competitions. Fri, 01 Jan 2016 00:00:00 GMT http://dl.gi.de/handle/20.500.12116/11540 2016-01-01T00:00:00Z