Henrik Gordon Petersen

Ph.d.

  • Campusvej 55

    5230 Odense M

    Denmark

20002019
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Research Output 2000 2019

VisGraB: A Benchmark for Vision-Based Grasping. Paladyn Journal of Behavioral Robotics

Kootstra, G., Popovic, M., Jørgensen, J. A., Kragic, D., Petersen, H. G. & Krüger, N., 2012, In : Paladyn: Journal of Behavioral Robotics. 3, 2, p. 54-62 9 p.

Research output: Contribution to journalJournal articleResearchpeer-review

Benchmarking
Robotics
Simulators
Robots
Hardware

Usage of simulations to plan stable grasping of unknown objects with a 3-fingered Schunk hand

Jørgensen, J. A. & Petersen, H. G., 2008.

Research output: Contribution to conference without publisher/journalPaperResearch

Transfer of Assembly Operations to New Workpiece Poses by Adaptation to the Desired Force Profile

Nemec, B., Abu-Dakka, F., Rytz, J. A., Savarimuthu, T. R., Ridge, B., Krüger, N., Petersen, H. G., Jouffroy, J. & Ude, A., 25. Nov 2013, Advanced Robotics (ICAR), 2013 16th International Conference . IEEE Press, 7 p.

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

Trajectories
Robotics
Demonstrations
Robots
Experiments

Towards Reversible Dynamic Movement Primitives

Juan, I. I. S., Sloth, C., Kramberger, A., Petersen, H. G., Østergård, E. H. & Savarimuthu, T. R., 2019, (Accepted/In press) Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems .

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

Towards Error Handling in a DSL for Robot Assembly Tasks

Laursen, J. S., Buch, J. P., Sørensen, L. C., Kraft, D., Petersen, H. G., Ellekilde, L-P. & Schultz, U. P., 2014. 5 p.

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

Open Access
Robots
Robot programming
Specifications

Towards a generic controller for arbitrary robotic manipulators

Joosen, W., Jørgensen, B. N., Linder, S. M., Olsen, M. M., Perram, J. W., Petersen, H. G., Ruhoff, P. T., Sørensen, A., Sørensen, A. S. & Wagenaar, J. M., 2000, Proceedings of IASTED International Conference on Robotics and Applications. p. 34-40

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

Technologies for the Fast Set-Up of Automated Assembly Processes

Krüger, N., Ude, A., Petersen, H. G., Nemec, B., Ellekilde, L-P., Savarimuthu, T. R., Jørgensen, J. A., Fischer, K., Buch, A. G., Kraft, D., Mustafa, W., Aksoy, E. E., Papon, J., Kramberger, A. & Worgotter, F., Nov 2014, In : Kuenstliche Intelligenz. 28, 4, p. 305-313

Research output: Contribution to journalJournal articleResearchpeer-review

Task and context sensitive optimization of gripper design using dynamic grasp simulation

Wolniakowski, A., Jørgensen, J. A., Miatliuk, K., Petersen, H. G. & Krüger, N., 2015, Proceedings of the 20th International Conference on Methods and Models in Automation and Robotics (MMAR). IEEE, p. 29-34

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

136 Downloads (Pure)

Task and Context Sensitive Gripper Design Learning Using Dynamic Grasp Simulation

Wolniakowski, A., Miatliuk, K., Gosiewski, Z., Bodenhagen, L., Petersen, H. G., Wiuf Schwartz, L. C. M., Jørgensen, J. A., Ellekilde, L-P. & Krüger, N., 2017, In : Journal of Intelligent and Robotic Systems. 87, 1, p. 15-42

Research output: Contribution to journalJournal articleResearchpeer-review

Open Access
File

Tactile object exploration using cursor navigation sensors

Kraft, D., Bierbaum, A., Kjaergaard, M., Ratkevicius, J., Kjær-Nielsen, A., Ryberg, C., Petersen, H. G., Asfour, T., Dillmann, R. & Krüger, N., 2009, EuroHaptics conference, 2009 and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics 2009. Third Joint. Electrical Engineering/Electronics, Computer, Communications and Information Technology Association, p. 296 301 p.

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

Navigation
Sensors
Point contacts
Robotics
Sensor arrays

Spatial constraint identification of parts in SE3 for action optimization

Jørgensen, J. A., Rukavishnikova, N., Kruger, N. & Petersen, H. G., 2015, Proceedings of the IEEE International Conference on Industrial Technology. IEEE, p. 474-480

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

Knowledge representation
Bins
Remote control
Robotics
Object detection

Smartpainter, a generic robot spray painting system

Sølvason, D. & Petersen, H. G., 2001

Research output: Book/anthology/thesis/reportBookResearch

Simultaneous Estimation of Material Properties and Pose for Deformable Objects from Depth and Color Images

Fugl, A. R., Jordt, A., Petersen, H. G., Willatzen, M. & Koch, R., 2012. 10 p.

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

Elasticity
Materials properties
Elastic moduli
Robots
Color

Simulation of Flexible Objects in Robotics

Fugl, A. R., Petersen, H. G. & Willatzen, M., 2012. 12 p.

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

robotics
simulation
flexible bodies
Newton second law
format

Simulating Robot Handling of Large Scale Deformable Objects: Manufacturing of Unique Concrete Reinforcement Structures

Cortsen, J., Jørgensen, J. A., Sølvason, D. & Petersen, H. G., 2012, In : I E E E International Conference on Robotics and Automation. p. 3771-3776

Research output: Contribution to journalConference articleResearchpeer-review

Simulating non-holonomic constraints within the LCP-based simulation framework

Ellekilde, L-P. & Petersen, H. G., 2006, In : International Journal for Numerical Methods in Engineering. 67, 10, p. 1445-1466 21 p.

Research output: Contribution to journalJournal articleResearchpeer-review

Signal arrival-time detection and multichannel electronics: European Study Group for Industry 61

Willatzen, M., Petersen, H. G., Voss, F., Lassen, B. & Latino, C., 2007, Sønderborg.

Research output: Book/anthology/thesis/reportReportCommunication

Safe Avoidance of Online-detected Obstacles for Robot Manipulators

Ellekilde, L-P. & Petersen, H. G., 2009, 40th International Symposium on Robotics, Proceedings Book. Basañez, L., Suárez, R. & Rosell, J. (eds.). Asociación Española de Robótica y Automatización Tecnologías de la Producción, p. 133-139 6 p.

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

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

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

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

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

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

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

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

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

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

131 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
178 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

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

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

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

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

Modeling motions of a KUKA KR30 robot

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

Research output: Other contributionResearch

185 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

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

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

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

148 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

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

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

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

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

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 1. (Lecture Notes in Electrical Engineering, Vol. 613).

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

Carbon fibers
Fibers
Molds
Interpolation
Robotics

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

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

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