Nikhil Somani

Publications

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• March 2019 SMErobotics: Smart Robots for Flexible Manufacturing Alexander Perzylo, Markus Rickert, Björn Kahl, Nikhil Somani, Christian Lehmann, Alexander Kuss, Stefan Profanter, Anders Billeso Beck, Mathias Haage, Mikkel Rath Hansen, Malene Tofveson Nibe, Máximo A. Roa, Olof Sörnmo, Sven Gestegård Robertz, Ulrike Thomas, Germano Veiga, Elin Anna Topp, Ingmar Kessler and Marinus Danzer IEEE Robotics & Automation Magazine, 26(1):78–90, March 2019. Details DOI BIB
• October 2018 An Efficient and Time-Optimal Trajectory Generation Approach for Waypoints under Kinematic Constraints and Error Bounds Jianjie Lin, Nikhil Somani, Biao Hu, Markus Rickert and Alois Knoll In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, Details DOI BIB
• April 2017 An Exact Solver for Geometric Constraints with Inequalities Nikhil Somani, Markus Rickert and Alois Knoll IEEE Robotics and Automation Letters, 2(2):1148–1155, April 2017. Details DOI BIB
• October 2016 Intuitive Instruction of Industrial Robots: Semantic Process Descriptions for Small Lot Production Alexander Perzylo, Nikhil Somani, Stefan Profanter, Ingmar Kessler, Markus Rickert and Alois Knoll In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 2293–2300, Daejeon, Republic of Korea, Details URL DOI BIB
• October 2016 Task Level Robot Programming using Prioritized Non-Linear Inequality Constraints Nikhil Somani, Markus Rickert, Andre Gaschler, Caixia Cai, Alexander Perzylo and Alois Knoll In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 430–437, Daejeon, Republic of Korea, Details URL DOI BIB
• June 2016 On Cognitive Robot Woodworking in SMErobotics Mathias Haage, Stefan Profanter, Ingmar Kessler, Alexander Perzylo, Nikhil Somani, Olof Sörnmo, Martin Karlsson, Sven Gestegård Robertz, Klas Nilsson, Ludovic Resch and Michael Marti In Proceedings of the International Symposium on Robotics (ISR), Munich, Germany, Details BIB
• December 2015 Object Detection Using Boundary Representations of Primitive Shapes Nikhil Somani, Alexander Perzylo, Caixia Cai, Markus Rickert and Alois Knoll In Proceedings of the IEEE International Conference on Robotics and Biomimetics (ROBIO), pages 108–113, Zhuhai, China, Details DOI BIB
• December 2015 Prioritized Motion-Force Control of Multi-Constraints for Industrial Manipulators Caixia Cai, Nikhil Somani, Markus Rickert and Alois Knoll In Proceedings of the IEEE International Conference on Robotics and Biomimetics (ROBIO), pages 952–957, Zhuhai, China, Details DOI BIB
• November 2015 Multimodal Human Activity Recognition for Industrial Manufacturing Processes in Robotic Workcells Alina Roitberg, Nikhil Somani, Alexander Perzylo, Markus Rickert and Alois Knoll In Proceedings of the ACM International Conference on Multimodal Interaction (ICMI), pages 259–266, Seattle, WA, USA, Details DOI BIB
• November 2015 Ubiquitous Semantics: Representing and Exploiting Knowledge, Geometry, and Language for Cognitive Robot Systems Alexander Perzylo, Nikhil Somani, Stefan Profanter, Andre Gaschler, Sascha Griffiths, Markus Rickert and Alois Knoll In Proceedings of the Workshop Towards Intelligent Social Robots - Current Advances in Cognitive Robotics, IEEE/RAS International Conference on Humanoid Robots (HUMANOIDS), Seoul, South Korea, Details BIB
• September 2015 An Ontology for CAD Data and Geometric Constraints as a Link Between Product Models and Semantic Robot Task Descriptions Alexander Perzylo, Nikhil Somani, Markus Rickert and Alois Knoll In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 4197–4203, Hamburg, Germany, Details DOI BIB
• September 2015 Analysis and Semantic Modeling of Modality Preferences in Industrial Human-Robot Interaction Stefan Profanter, Alexander Perzylo, Nikhil Somani, Markus Rickert and Alois Knoll In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 1812–1818, Hamburg, Germany, Details DOI BIB
• September 2015 Constraint-Based Task Programming with CAD Semantics: From Intuitive Specification to Real-Time Control Nikhil Somani, Andre Gaschler, Markus Rickert, Alexander Perzylo and Alois Knoll In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 2854–2859, Hamburg, Germany, Details URL DOI BIB
• September 2015 Multimodal Binding of Parameters for Task-Based Robot Programming Based on Semantic Descriptions of Modalities and Parameter Types Alexander Perzylo, Nikhil Somani, Stefan Profanter, Markus Rickert and Alois Knoll In Proceedings of the Workshop on Multimodal Semantics for Robotic Systems, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, Details BIB
• July 2015 Toward Efficient Robot Teach-In and Semantic Process Descriptions for Small Lot Sizes Alexander Perzylo, Nikhil Somani, Stefan Profanter, Markus Rickert and Alois Knoll In Proceedings of the Workshop on Combining AI Reasoning and Cognitive Science with Robotics, Robotics: Science and Systems (RSS), Rome, Italy, Details URL BIB
• December 2014 Human Activity Recognition in the Context of Industrial Human-Robot Interaction Alina Roitberg, Alexander Perzylo, Nikhil Somani, Manuel Giuliani, Markus Rickert and Alois Knoll In Proceedings of the AsiaPacific Signal and Information Processing Association Annual Summit and Conference (APSIPA ASC), pages 1–10, Siem Reap, Cambodia, Details DOI BIB
• December 2014 Object Recognition Using Constraints from Primitive Shape Matching Nikhil Somani, Caixia Cai, Alexander Perzylo, Markus Rickert and Alois Knoll In Proceedings of the 10th International Symposium on Visual Computing (ISVC'14), pages 783–792, Las Vegas, NV, USA, Springer. Details DOI BIB
• September 2014 6D Image-based Visual Servoing for Robot Manipulators with Uncalibrated Stereo Cameras Caixia Cai, Emmanuel Dean-Leon, Nikhil Somani and Alois Knoll In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Details BIB
• October 2013 3D Image-based Dynamic Visual Servoing with Uncalibrated Stereo Cameras Caixia Cai, Emmanuel Dean-Leon, Nikhil Somani and Alois Knoll In The 44th Internation Symposium on Robotics (ISR), Details BIB
• September 2013 Scene Perception and Recognition for Human-Robot Co-Operation Nikhil Somani, Emmanuel Dean-Leon, Caixia Cai and Alois Knoll In ICIAP'13 workshop: First International Workshop on Assistive Computer Vision and Robotics (ACVR 2013). The 17th International Conference on Image Analysis and Processing., Details BIB
• August 2013 Perception and Reasoning for Scene Understanding in Human-Robot Interaction Scenarios Nikhil Somani, Emmanuel Dean-Leon, Caixia Cai and Alois Knoll In CAIP'13 workshop: Recognition and Action for Scene understanding (REACTS 2013). The 15th International Conference of Computer Analysis of Images and Patterns., Details BIB
• July 2013 Scene Perception and Recognition in Industrial Environments for Human-Robot Interaction Nikhil Somani, Emmanuel Dean-Leon, Caixia Cai and Alois Knoll In 9th International Symposium on Visual Computing (ISVC'13), Springer. Details BIB
• 2013 Uncalibrated 3D Stereo Image-based Dynamic Visual Servoing for Robot Manipulators Caixia Cai, Emmanuel Dean-Leon, Dario Mendoza, Nikhil Somani and Alois Knoll In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Details BIB