{"id":3267,"date":"2025-06-18T15:23:26","date_gmt":"2025-06-18T13:23:26","guid":{"rendered":"https:\/\/crta-robotics.com\/?page_id=3267"},"modified":"2025-06-18T15:42:55","modified_gmt":"2025-06-18T13:42:55","slug":"igramo","status":"publish","type":"page","link":"https:\/\/crta-robotics.com\/de\/projects\/igramo\/","title":{"rendered":"WIR SPIELEN"},"content":{"rendered":"

Verbesserung der Greifmethoden durch Beobachtungen<\/h2>\n\n\n\n

Ziele und Ergebnisse des Projekts<\/strong><\/h3>\n\n\n\n

Das Hauptziel des IGRAMO-Projekts (Improving GRAsping Movements by Predictions based on Observation) konzentrierte sich auf den Entwurf und die Entwicklung eines autonomen Robotersystems zur Handhabung von Objekten. In einem solchen System lernt ein virtueller Roboteragent, wie man verschiedene Objekte manipuliert, indem er beobachtet, wie ein Mensch mit denselben Objekten umgeht. Im Rahmen des Projekts wurden neue Steuerungsparadigmen entwickelt, die auf den Konzepten von Multiagentensystemen (MAS) zur Koordination eines Roboterarms mit einem Mehrfingergreifer basieren. Im Projekt werden die Finger und die globale Kamera als unabh\u00e4ngige rationale autonome Agenten modelliert, die zusammenarbeiten, um Bewegungen in einem diskreten Zustandsraum zu koordinieren und zu planen. Mithilfe verschiedener Koordinations- und Kollaborationstechniken (z. B. Koordinationsgraphen, Verhandlungs- und Konfliktl\u00f6sungsmethoden) kooperieren die Finger mit den anderen Fingern des Greifers und mit der globalen Kamera bei der Umsetzung der Aufgabe: das konvexe Objekt der Manipulation aus dem Anfang zu bringen koordiniert und kollaborativ zur Zielposition positionieren, diese umrunden, fangen und transportieren und dabei Hindernissen aus dem Weg gehen. Es gibt eine sp\u00fcrbare Verbesserung der Leistung bei Fangaufgaben. Das entwickelte MAS-Paradigma verspricht gewisse Vorteile nicht nur bei der Steuerung von Mehrfingergreifern, sondern auch bei ganzen Produktionssystemen bestehend aus Robotern und Manipulatoren.<\/p>\n\n\n\n

Kurzinfos<\/strong><\/h3>\n\n\n\n

Standort:<\/strong> Stockholm\/Zagreb
Dauer:<\/strong> 1.2.2009. \u2013 1.2.2011.
Programm:<\/strong> Einheit durch Wissensfonds (UKF)
Projektbetrag (HRK):<\/strong> 458.934,00
Der von der Geberorganisation (HRK) bereitgestellte Betrag:<\/strong> 458.934,00
Co-Projektleiter:<\/strong> Prof. Ph.D. Bojan Jerbi\u0107
Leitender Partner:<\/strong> KTH K\u00f6nigliches Institut f\u00fcr Technologie
Finanzierungsquelle:<\/strong> UKF-Stipendium<\/p>","protected":false},"excerpt":{"rendered":"

Verbesserung von Greifmethoden durch Beobachtungen Projektziele und -ergebnisse Das Hauptziel des Projekts IGRAMO (Improving GRAsping Movements by predictions based on Observation) war die Entwicklung eines autonomen Robotersystems zur Handhabung von Objekten. In einem solchen System lernt ein virtueller Roboteragent die Handhabung verschiedener Objekte, indem er einen Menschen bei der Handhabung derselben Objekte beobachtet. Im Rahmen von\u2026
Mehr lesen<\/a><\/p>","protected":false},"author":15,"featured_media":0,"parent":3047,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-3267","page","type-page","status-publish","hentry"],"yoast_head":"\nIGRAMO - CRTA<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/crta-robotics.com\/de\/projects\/igramo\/\" \/>\n<meta property=\"og:locale\" content=\"de_DE\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"IGRAMO - CRTA\" \/>\n<meta property=\"og:description\" content=\"Improving grasping methods based on observations Ciljevi i rezultati projekta Glavni cilj projekta IGRAMO (Improving GRAsping Movements by predictions based on Observation) bio je usmjeren na projektiranje i razvoj autonomnog robotskog sustava za rukovanje objektima. 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