Henrik Gordon Petersen

Ph.d.

  • Campusvej 55

    5230 Odense M

    Denmark

20002019
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Research Output 2000 2019

Accelerated Hierarchical Collision Detection for Simulation using CUDA

Jørgensen, J. A., Fugl, A. R. & Petersen, H. G., 2010. 8 p.

Research output: Contribution to conference without publisher/journalPaperResearchpeer-review

Graphics processing unit

A development of parallel robotic modules for long reach applications

Sørensen, A. S., Petersen, H. G., Jacobsen, N. J. & Jakobsen, O. G., 2001

Research output: Book/anthology/thesis/reportBookResearch

Advanced Off-line Simulation Framework with Deformation Compensation for High Speed Machining with Robot Manipulators

Cortsen, J. & Petersen, H. G., 2012, 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) . IEEE, p. 934-939

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

A framework for handling and combining inaccuracy propagation in robot subtasks for industrial assembly

Buch, J. P. & Petersen, H. G., 2017, IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, Vol. 2017-September. p. 3848-3854 8206236

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Automation
Robots
Joining
Hardware
Costs

A model for water distribution in manifolds for industrial process autoclaves: Industrial Problem

Hansen, C. V., Larsen, J. S., Buch, J. P., Sørensen, L. C., Iversen, T. F., Jørgensen, T. B., Tofteskov, J., Song, X., Hansen, M. F., Veje, C., Petersen, H. G. & Sørensen, M. P., 2015.

Research output: Contribution to conference without publisher/journalPaperResearch

212 Downloads (Pure)

An Adaptable Robot Vision System Performing Manipulation Actions with Flexible Objects

Bodenhagen, L., Fugl, A. R., Jordt, A., Willatzen, M., Aulkjær Andersen, K., Mølbach Olsen, M., Koch, R., Petersen, H. G. & Krüger, N., Jul 2014, In : I E E E Transactions on Automation Science and Engineering. 11, 3, p. 749 - 765

Research output: Contribution to journalJournal articleResearchpeer-review

File

A new Experimental Method for Predicting Static Tool Displacements for Machining with Robot Manipulators

Cortsen, J. & Petersen, H. G., 7. Jun 2011, In : I E E E - A S M E Transactions on Mechatronics. p. 361-66

Research output: Contribution to journalConference articleResearchpeer-review

A new method for correcting uncalibrated robot programs

Søe-Knudsen, R., Østergård, E. H. & Petersen, H. G., 9. Jul 2013, Advanced Intelligent Mechatronics (AIM), 2013 IEEE/ASME International Conference on . IEEE, p. 1410-1417 8 p.

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

A new method for estimating parameters of a dynamic robot model

Olsen, M. M. & Petersen, H. G., 2001, In : IEEE transactions on robotics and automation. 17, 1, p. 95-100

Research output: Contribution to journalJournal articleResearch

A New Redundancy Formalism for Avoidance in Visual Servoing

Paulin, M., Paulin, M. & Petersen, H. G., 2005, Proceedings of 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems (CD).

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

An Outline for an intelligent System performing Peg-in-Hole Actions with flexible Objects

Jordt, A., Fugl, A. R., Bodenhagen, L., Willatzen, M., Koch, R., Petersen, H. G., Andersen, K. A., Olsen, M. M. & Krüger, N., Dec 2011. 12 p.

Research output: Contribution to conference without publisher/journalPaperResearchpeer-review

Intelligent systems

Application of Joint Error Maximal Mutual Compensation to hexapod robots

Veryha, Y. & Petersen, H. G., 1. Jan 2008, In : Robotica. 26, 1, p. 63-73

Research output: Contribution to journalJournal articleResearchpeer-review

Applying a Learning Framework for Improving Success Rates in Industrial Bin Picking

Ellekilde, L-P., Jørgensen, J. A., Kraft, D., Krüger, N., Piater, J. & Petersen, H. G., 2012, International Conference on Intelligent Robots and Systems (IROS). IROS, p. 1637-1643 7 p.

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Applying Simulation and a Domain-Specific Language for an Adaptive Action Library

Buch, J. P., Laursen, J. S., Sørensen, L. C., Ellekilde, L-P., Kraft, D., Schultz, U. P. & Petersen, H. G., 20. Oct 2014, Simulation, Modeling, and Programming for Autonomous Robots. Brugali, D., Broenink, J. F., Kroeger, T. & MacDonald, B. A. (eds.). Springer, Vol. 8810. p. 86-97 (Lecture Notes in Computer Science, Vol. 8810).

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Automated Fabrication of double curved reinforcement structures for unique concrete buildings

Cortsen, J., Ellekilde, L-P., Rytz, J. A., Sølvason, D. & Petersen, H. G., 2014, In : Robotics and Autonomous Systems. 62, 10, p. 1387–1397

Research output: Contribution to journalJournal articleResearchpeer-review

CALIBRATION AND PROGRAMMING OF ROBOTS

Søe-Knudsen, R., Petersen, H. G. & Østergård, E. H., 4. Apr 2013, IPC No. B25J9/16, Patent No. EP2012/068337, 18. Sep 2012

Research output: Patent

Compensating Pose Uncertainties Through Appropriate Gripper Finger Cutouts

Wolniakowski, A., Gams, A., Kiforenko, L., Kramberger, A., Chrysostomou, D-C., Madsen, O., Miatliuk, K., Petersen, H. G., Hagelskjær, F., Buch, A. G., Ude, A. & Krüger, N., 3. Jul 2016.

Research output: Contribution to conference without publisher/journalPaperResearchpeer-review

Grippers
Uncertainty
Robotics
Calibration
Geometry
48 Downloads (Pure)

Compensating Pose Uncertainties Through Appropriate Gripper Finger Cutouts

Wolniakowski, A., Gams, A., Kiforenko, L., Kramberger, A., Chrysostomou, D-C., Madsen, O., Miatliuk, K., Petersen, H. G., Hagelskjær, F., Buch, A. G., Ude, A. & Krüger, N., 2018, In : Acta Mechanica et Automatica. 12, 1, p. 78-83

Research output: Contribution to journalConference articleResearchpeer-review

Open Access
File
Grippers
Uncertainty
Robotics
Calibration
Geometry

Computation of Safe Path Velocity for Collaborative Robots

Sloth, C. & Petersen, H. G., 27. Dec 2018, Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, p. 6142-6148

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Robots

Design and Test of Object Aligning Grippers for Industrial Applications

Ellekilde, L-P. & Petersen, H. G., 2006, Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, p. 5165-5170 6 p.

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

ErrorCheck: A New Method for Controlling the Accuracy of Pose Estimates

Holm, P. H. S. & Petersen, H. G., 2011, Proceedings of the 5th International Conference on Automation, Robotics and Applications. 6 p.

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Facilitating Robotic Subtask Reuse by a New Representation of Parametrized Solutions

Buch, J. P., Sørensen, L. C., Kraft, D. & Petersen, H. G., 2016, Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics. Gusikhin, O., Peaucelle, D. & Madani, K. (eds.). SCITEPRESS Digital Library, p. 37-48

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Fast and Simple Interacting Models of Drape Tool and Ply Material for Handling Free Hanging, Pre-impregnated Carbon Fibre Material

Gunnarsson, G. G., Nielsen, O. W., Schlette, C. & Petersen, H. G., 2019, Informatics in Control, Automation and Robotics: 15th International Conference, ICINCO 2018, Porto, Portugal, July 29-31, 2018, Revised Selected Papers. Gusikhin, O. & Madani, K. (eds.). Springer, p. 1-25 25 p. 1. (Lecture Notes in Electrical Engineering, Vol. 613).

Research output: Chapter in Book/Report/Conference proceedingBook chapterResearchpeer-review

Carbon fibers
Fibers
Molds
Interpolation
Robotics

Fast and simple model for free hanging, pre-impregnated carbon fibre material

Schlette, C., Nielsen, O. W. & Petersen, H. G., 29. Jul 2018, ICINCO 2018: Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics. Madani, K. & Gusikhin, O. (eds.). SCITEPRESS Digital Library, Vol. 1. p. 7-14

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Carbon fibers
Fibers
Molds
Interpolation
Mathematical models

Grasp Synthesis for Dextrous Hands Optimised for Tactile Manipulation

Jørgensen, J. A. & Petersen, H. G., 2010.

Research output: Contribution to conference without publisher/journalPaperResearchpeer-review

Handling Uncertainties in Object Placement using Drop Regions

Jørgensen, J. A., Ellekilde, L-P. & Petersen, H. G., May 2012, Proceedings of Robotik 2012.

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Implementation of a practical reconfigurable manipulator system based on hybrid parallel and sequential elements

Sørensen, A. S., Jakobsen, O. G., Favrholdt, P., Petersen, H. G., Jacobsen, N. J. & Steinicke, J., 2004, International Conference on Intelligent Manipulation and Grasping (IMG04). p. 404-409

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

144 Downloads (Pure)

Industrial Assembly Cases

Ellekilde, L-P., Buch, J. P., Iversen, T. M., Laursen, J. S., Mathiesen, S., Sørensen, L. C., Kraft, D., Savarimuthu, T. R., Petersen, H. G., Chrysostomou, D., Hansson, M. & Schou, C., 2016, Syddansk Universitet. Mærsk Mc-Kinney Møller Instituttet. 22 p. (Technical Reports - Maersk Mc-Kinney Moller Institute, University of Southern Denmark; No. 1).

Research output: Book/anthology/thesis/reportReportResearch

Open Access
File

In Search of Inliers: 3D Correspondence by Local and Global Voting

Buch, A. G., Yang, Y., Krüger, N. & Petersen, H. G., 2014, IEEE Conference on Computer Vision and Pattern Recognition (CVPR). IEEE, p. 2075-2082 8 p. (I E E E Conference on Computer Vision and Pattern Recognition. Proceedings).

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Inverse kinematics by numerical and analytical cyclic coordinate descent

Olsen, A. L. & Petersen, H. G., 2011, In : Robotica. 29, p. 619-626 8 p.

Research output: Contribution to journalJournal articleResearchpeer-review

Learning Peg-In-Hole Actions with Flexible Objects

Bodenhagen, L., Fugl, A. R., Willatzen, M., Petersen, H. G. & Krüger, N., Feb 2012, Proceedings of the 4th International Conference on Agents and Artificial Intelligence. Filipe, J. & Fred, A. (eds.). SCITEPRESS Digital Library, p. 624-631

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

168 Downloads (Pure)

Local shape feature fusion for improved matching, pose estimation and 3D object recognition

Buch, A. G., Petersen, H. G. & Krüger, N., 8. Mar 2016, In : SpringerPlus. 5, 1, 33 p., 297.

Research output: Contribution to journalJournal articleResearchpeer-review

Open Access
File
Benchmarking
Datasets

Modeling motions of a KUKA KR30 robot

Petersen, H. G. & Ellekilde, L-P., 1. Oct 2011

Research output: Other contributionResearch

Motion Planning Efficient Trajectories for Industrial Bin-picking

Ellekilde, L-P. & Petersen, H. G., Sep 2013, In : International Journal of Robotics Research. 32, 9-10, p. 991-1004

Research output: Contribution to journalJournal articleResearchpeer-review

Motion planning for gantry mounted manipulators: A ship-welding application example

Olsen, A. L. & Petersen, H. G., 2007, Proceedings IEEE International Conference on Robotics and Automation. IEEE, p. 4782-4786 5 p.

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Shipyards
Motion planning
Manipulators
Ships
Welding

Online Action Learning using Kernel Density Estimation for Quick Discovery of Good Parameters for Peg-in-Hole Insertion

Sørensen, L. C., Buch, J. P., Petersen, H. G. & Kraft, D., 2016, Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics. Gusikhin, O., Peaucelle, D. & Madani, K. (eds.). SCITEPRESS Digital Library, p. 166-177

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

On transferability and contexts when using simulated grasp databases

Jørgensen, J. A., Ellekilde, L-P., Kraft, D., Petersen, H. G. & Krüger, N., Jun 2015, In : Robotica. 33, 05 (Special Issue), p. 1131-1146

Research output: Contribution to journalJournal articleResearchpeer-review

174 Downloads (Pure)

On Transferability of grasp-affordances in data-driven grasping

Rytz, J. A., Ellekilde, L-P., Kraft, D., Petersen, H. G. & Krüger, N., 11. Aug 2013, Proceedings of the RAAD 2013. 9 p.

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

File
Bins
Gravitation
Robotics
Planning
Computer simulation
117 Downloads (Pure)

Optimizing Grippers for Compensating Pose Uncertainties by Dynamic Simulation

Wolniakowski, A., Kramberger, A., Gams, A., Chrysostomou, D-C., Hagelskjær, F., Thulesen, T. N., Kiforenko, L., Buch, A. G., Bodenhagen, L., Petersen, H. G., Madsen, O., Ude, A. & Krüger, N., 2016, Optimizing Grippers for Compensating Pose Uncertainties by Dynamic Simulation. IEEE Press, p. 177-184

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

File

Optimizing Pick and Place Operations in a Simulated Work Cell for Deformable 3D Objects

Jørgensen, T. B., Holm, P. H. S., Petersen, H. G. & Krüger, N., 2015, Intelligent Robotics and Applications . Liu, H., Kubota, N., Zhu, X., Dillmann, R. & Zhou, D. (eds.). Springer, p. 431-444 (Lecture Notes in Computer Science, Vol. 9245).

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Optimizing visual appearance used for refinement of object poses

Holm, P. H. S., Buch, A. G. & Petersen, H. G., 2011, Proceedings of the IASTED International Conference on Robotics and Applications. ACTA Press, 8 p.

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Pose Estimation using Local Structure-Specific Shape and Appearance Context

Buch, A. G., Kraft, D., Kämäräinen, J-K., Petersen, H. G. & Krüger, N., 2013, IEEE International Conference on Robotics and Automation (ICRA). IEEE, p. 2080-2087 8 p.

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Model structures
Textures
Experiments

Refining Visually Detected Object poses

Holm, P. & Petersen, H. G., 2010, Proceedings of the International Symposium on Robotics. 6 p.

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Refining
Bins
Triangulation
Computer aided design
Cameras

Representation and shape estimation of Odin, a parallel under-actuated modular robot

Lyder, A., Petersen, H. G. & Støy, K., 2009, Proceedings of the RSJ/IEEE International Conference on Intelligent Robots and Systems. IEEE Press, p. 5275-5280 6 p.

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Modular robots
Robots
Kinematics
Actuators

Ring on the hook: placing a ring on a moving and pendulating hook based on visual input

Kjær-Nielsen, A., Buch, A. G., Jensen, A. K., Møller, B., Kraft, D., Krüger, N., Petersen, H. G. & Ellekilde, L-P., 2011, In : Industrial Robot: the international journal of robotics research and application. 38, 3, p. 301-314

Research output: Contribution to journalJournal articleResearchpeer-review

Hooks
Pendulums
Computer vision
Industrial applications
Robots

Robust Control for High-Speed Visual Servoing Applications

Ellekilde, L-P., Favrholdt, P., Paulin, M. & Petersen, H. G., 1. Sep 2007, In : International Journal of Advanced Robotic Systems. 4, 3, p. 279-292 13 p.

Research output: Contribution to journalJournal articleResearchpeer-review

Visual servoing
Robust control
Robots

Robust optimization with applications to design of context specific robot solutions

Jørgensen, T. B., Wolniakowski, A., Petersen, H. G., Debrabant, K. & Krüger, N., 2018, In : Robotics and Computer-Integrated Manufacturing. 53, p. 162–177

Research output: Contribution to journalJournal articleResearchpeer-review

Robots
Grippers
Meats
Parameterization
Robotics

RobWorkPhysicsEngine: A new Dynamic Simulation Engine for Manipulation Actions

Thulesen, T. N. & Petersen, H. G., 2016, Proceedings of the 2016 IEEE International Conference on Robotics and Automation. IEEE Press, p. 2060-2067

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

RobWorkSim - an Open Simulator for Sensor based Grasping

Jørgensen, J. A., Ellekilde, L-P. & Petersen, H. G., 2010.

Research output: Contribution to conference without publisher/journalPaperResearchpeer-review