Seite - 205 - in Proceedings - OAGM & ARW Joint Workshop 2016 on "Computer Vision and Robotics“

an Asus Xtion sensor provides the scene data for the localization and tracking of objects of interest. The following static work plan related to the assembly process of a Steam cooker will be assumed.  Step 1: Human worker picks the base object and robot grasps and lifts the heater object  Step 2: Human worker holds the base object and robot shows the heater object to the human  Step 3: Human worker attaches the base object to the heater object and inserts the timer cap on the side of heater object and performs the screwing Figure 3.1.2: Human worker performing step 3  Step 4: Robot lifts and places the compound object resulted from step 3  Step 5: Human picks the turbo ring object and places it inside the compound object while the robot grasps and lifts the tray object  Step 6: Robot presents and hands over the tray object to the human worker  Step 7: Human worker inserts the tray object into the compound object resulted from step 5 Figure 3.1.3: Left image => step 6 and Right image =>step 7 4. Expected Contributions The expected contributions resulting from this research work will be 1) Identification of low-level process deviations from the robot assistant side 2) task level trajectory planning based on simultaneous task and activity recognition to handle such process deviations 3) estimation of skeletal joints positions with a higher sampling rate. 5. Acknowledgements This research is funded by the projects KoMoProd (Austrian Bundesministerium für Verkehr, Innovation und Technologie) and CompleteMe (FFG, 849441). 6. References 205