diff --git a/.kile/mechforsch.kilepr.gui b/.kile/mechforsch.kilepr.gui
index faf7294..ed34cd3 100644
--- a/.kile/mechforsch.kilepr.gui
+++ b/.kile/mechforsch.kilepr.gui
@@ -113,51 +113,51 @@ TextFolding={"checksum":"","ranges":[]}
ViMarks=
[view-settings,view=0,item:main.bib]
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-CursorLine=124
+CursorColumn=1
+CursorLine=257
Dynamic Word Wrap=false
JumpList=
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+TextFolding={"checksum":"d388fe775e2de092b50ce9dbaa861869ee036db3","ranges":[]}
ViMarks=
[view-settings,view=0,item:main.tex]
-CursorColumn=45
-CursorLine=176
+CursorColumn=68
+CursorLine=32
Dynamic Word Wrap=false
JumpList=
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+TextFolding={"checksum":"88153af05e2be709e828e4e8a1a9f54b756bcefe","ranges":[]}
ViMarks=
[view-settings,view=0,item:tex/1_Einleitung.tex]
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+CursorLine=46
Dynamic Word Wrap=false
JumpList=
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+TextFolding={"checksum":"052cc01250adb0f5e3ea2eff211696be3fc560ae","ranges":[]}
ViMarks=
[view-settings,view=0,item:tex/2_Konzept.tex]
CursorColumn=0
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Dynamic Word Wrap=false
JumpList=
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+TextFolding={"checksum":"462cd841a4ae5cfb2a0372ff60c2f3b89035b3ea","ranges":[]}
ViMarks=
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ViMarks=
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JumpList=
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ViMarks=
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diff --git a/_minted-main/391704321A86D34384492C034ECA3CFA82CA0C42AFE0759A4F1491A6B69BC02A.pygtex b/_minted-main/391704321A86D34384492C034ECA3CFA82CA0C42AFE0759A4F1491A6B69BC02A.pygtex
new file mode 100644
index 0000000..9279cfc
--- /dev/null
+++ b/_minted-main/391704321A86D34384492C034ECA3CFA82CA0C42AFE0759A4F1491A6B69BC02A.pygtex
@@ -0,0 +1,6 @@
+\begin{Verbatim}[commandchars=\\\{\}]
+\PYG{c+ch}{\PYGZsh{}!/bin/bash}
+\PYG{n+nb}{pushd}\PYG{+w}{ }\PYG{l+s+s2}{\PYGZdq{}}\PYG{k}{\PYGZdl{}(}dirname\PYG{+w}{ }\PYG{l+s+s2}{\PYGZdq{}}\PYG{n+nv}{\PYGZdl{}0}\PYG{l+s+s2}{\PYGZdq{}}\PYG{k}{)}\PYG{l+s+s2}{\PYGZdq{}}\PYG{+w}{ }\PYG{o}{||}\PYG{+w}{ }\PYG{n+nb}{exit}
+colcon\PYG{+w}{ }build\PYG{+w}{ }\PYGZhy{}\PYGZhy{}event\PYGZhy{}handlers\PYG{+w}{ }console\PYGZus{}cohesion+\PYG{+w}{ }\PYGZhy{}\PYGZhy{}cmake\PYGZhy{}args\PYG{+w}{ }\PYGZhy{}DCMAKE\PYGZus{}EXPORT\PYGZus{}COMPILE\PYGZus{}COMMANDS\PYG{o}{=}ON\PYG{+w}{ }\PYGZhy{}G\PYG{+w}{ }Ninja
+\PYG{n+nb}{popd}\PYG{+w}{ }\PYG{o}{||}\PYG{+w}{ }\PYG{n+nb}{exit}
+\end{Verbatim}
diff --git a/_minted-main/86994E17E7B794407C4C28872F16EC061EC630FA6AA4A122E827A2E31B1A68E1.pygtex b/_minted-main/86994E17E7B794407C4C28872F16EC061EC630FA6AA4A122E827A2E31B1A68E1.pygtex
new file mode 100644
index 0000000..a5575a0
--- /dev/null
+++ b/_minted-main/86994E17E7B794407C4C28872F16EC061EC630FA6AA4A122E827A2E31B1A68E1.pygtex
@@ -0,0 +1,16 @@
+\begin{Verbatim}[commandchars=\\\{\}]
+\PYG{c+cp}{\PYGZlt{}?xml version=\PYGZdq{}1.0\PYGZdq{}?\PYGZgt{}}
+\PYG{n+nt}{\PYGZlt{}root}\PYG{+w}{ }\PYG{n+na}{main\PYGZus{}tree\PYGZus{}to\PYGZus{}execute=}\PYG{l+s}{\PYGZdq{}demoTree\PYGZdq{}}\PYG{n+nt}{\PYGZgt{}}
+\PYG{+w}{ }\PYG{n+nt}{\PYGZlt{}BehaviorTree}\PYG{+w}{ }\PYG{n+na}{ID=}\PYG{l+s}{\PYGZdq{}actorTree\PYGZdq{}}\PYG{n+nt}{\PYGZgt{}}
+\PYG{+w}{ }\PYG{n+nt}{\PYGZlt{}Sequence\PYGZgt{}}
+\PYG{+w}{ }\PYG{n+nt}{\PYGZlt{}Fallback\PYGZgt{}}
+\PYG{+w}{ }\PYG{n+nt}{\PYGZlt{}Action}\PYG{+w}{ }\PYG{n+na}{ID=}\PYG{l+s}{\PYGZdq{}IsDoorOpen\PYGZdq{}}\PYG{n+nt}{/\PYGZgt{}}
+\PYG{+w}{ }\PYG{n+nt}{\PYGZlt{}Action}\PYG{+w}{ }\PYG{n+na}{ID=}\PYG{l+s}{\PYGZdq{}OpenDoor\PYGZdq{}}\PYG{n+nt}{/\PYGZgt{}}
+\PYG{+w}{ }\PYG{n+nt}{\PYGZlt{}Action}\PYG{+w}{ }\PYG{n+na}{ID=}\PYG{l+s}{\PYGZdq{}BreakDoor\PYGZdq{}}\PYG{n+nt}{/\PYGZgt{}}
+\PYG{+w}{ }\PYG{n+nt}{\PYGZlt{}/Fallback\PYGZgt{}}
+\PYG{+w}{ }\PYG{n+nt}{\PYGZlt{}CanWalkThrough/\PYGZgt{}}
+\PYG{+w}{ }\PYG{n+nt}{\PYGZlt{}WalkThrough/\PYGZgt{}}
+\PYG{+w}{ }\PYG{n+nt}{\PYGZlt{}/Sequence\PYGZgt{}}
+\PYG{+w}{ }\PYG{n+nt}{\PYGZlt{}/BehaviorTree\PYGZgt{}}
+\PYG{n+nt}{\PYGZlt{}/root\PYGZgt{}}
+\end{Verbatim}
diff --git a/_minted-main/default.pygstyle b/_minted-main/default.pygstyle
new file mode 100644
index 0000000..211763d
--- /dev/null
+++ b/_minted-main/default.pygstyle
@@ -0,0 +1,101 @@
+
+\makeatletter
+\def\PYG@reset{\let\PYG@it=\relax \let\PYG@bf=\relax%
+ \let\PYG@ul=\relax \let\PYG@tc=\relax%
+ \let\PYG@bc=\relax \let\PYG@ff=\relax}
+\def\PYG@tok#1{\csname PYG@tok@#1\endcsname}
+\def\PYG@toks#1+{\ifx\relax#1\empty\else%
+ \PYG@tok{#1}\expandafter\PYG@toks\fi}
+\def\PYG@do#1{\PYG@bc{\PYG@tc{\PYG@ul{%
+ \PYG@it{\PYG@bf{\PYG@ff{#1}}}}}}}
+\def\PYG#1#2{\PYG@reset\PYG@toks#1+\relax+\PYG@do{#2}}
+
+\@namedef{PYG@tok@w}{\def\PYG@tc##1{\textcolor[rgb]{0.73,0.73,0.73}{##1}}}
+\@namedef{PYG@tok@c}{\let\PYG@it=\textit\def\PYG@tc##1{\textcolor[rgb]{0.24,0.48,0.48}{##1}}}
+\@namedef{PYG@tok@cp}{\def\PYG@tc##1{\textcolor[rgb]{0.61,0.40,0.00}{##1}}}
+\@namedef{PYG@tok@k}{\let\PYG@bf=\textbf\def\PYG@tc##1{\textcolor[rgb]{0.00,0.50,0.00}{##1}}}
+\@namedef{PYG@tok@kp}{\def\PYG@tc##1{\textcolor[rgb]{0.00,0.50,0.00}{##1}}}
+\@namedef{PYG@tok@kt}{\def\PYG@tc##1{\textcolor[rgb]{0.69,0.00,0.25}{##1}}}
+\@namedef{PYG@tok@o}{\def\PYG@tc##1{\textcolor[rgb]{0.40,0.40,0.40}{##1}}}
+\@namedef{PYG@tok@ow}{\let\PYG@bf=\textbf\def\PYG@tc##1{\textcolor[rgb]{0.67,0.13,1.00}{##1}}}
+\@namedef{PYG@tok@nb}{\def\PYG@tc##1{\textcolor[rgb]{0.00,0.50,0.00}{##1}}}
+\@namedef{PYG@tok@nf}{\def\PYG@tc##1{\textcolor[rgb]{0.00,0.00,1.00}{##1}}}
+\@namedef{PYG@tok@nc}{\let\PYG@bf=\textbf\def\PYG@tc##1{\textcolor[rgb]{0.00,0.00,1.00}{##1}}}
+\@namedef{PYG@tok@nn}{\let\PYG@bf=\textbf\def\PYG@tc##1{\textcolor[rgb]{0.00,0.00,1.00}{##1}}}
+\@namedef{PYG@tok@ne}{\let\PYG@bf=\textbf\def\PYG@tc##1{\textcolor[rgb]{0.80,0.25,0.22}{##1}}}
+\@namedef{PYG@tok@nv}{\def\PYG@tc##1{\textcolor[rgb]{0.10,0.09,0.49}{##1}}}
+\@namedef{PYG@tok@no}{\def\PYG@tc##1{\textcolor[rgb]{0.53,0.00,0.00}{##1}}}
+\@namedef{PYG@tok@nl}{\def\PYG@tc##1{\textcolor[rgb]{0.46,0.46,0.00}{##1}}}
+\@namedef{PYG@tok@ni}{\let\PYG@bf=\textbf\def\PYG@tc##1{\textcolor[rgb]{0.44,0.44,0.44}{##1}}}
+\@namedef{PYG@tok@na}{\def\PYG@tc##1{\textcolor[rgb]{0.41,0.47,0.13}{##1}}}
+\@namedef{PYG@tok@nt}{\let\PYG@bf=\textbf\def\PYG@tc##1{\textcolor[rgb]{0.00,0.50,0.00}{##1}}}
+\@namedef{PYG@tok@nd}{\def\PYG@tc##1{\textcolor[rgb]{0.67,0.13,1.00}{##1}}}
+\@namedef{PYG@tok@s}{\def\PYG@tc##1{\textcolor[rgb]{0.73,0.13,0.13}{##1}}}
+\@namedef{PYG@tok@sd}{\let\PYG@it=\textit\def\PYG@tc##1{\textcolor[rgb]{0.73,0.13,0.13}{##1}}}
+\@namedef{PYG@tok@si}{\let\PYG@bf=\textbf\def\PYG@tc##1{\textcolor[rgb]{0.64,0.35,0.47}{##1}}}
+\@namedef{PYG@tok@se}{\let\PYG@bf=\textbf\def\PYG@tc##1{\textcolor[rgb]{0.67,0.36,0.12}{##1}}}
+\@namedef{PYG@tok@sr}{\def\PYG@tc##1{\textcolor[rgb]{0.64,0.35,0.47}{##1}}}
+\@namedef{PYG@tok@ss}{\def\PYG@tc##1{\textcolor[rgb]{0.10,0.09,0.49}{##1}}}
+\@namedef{PYG@tok@sx}{\def\PYG@tc##1{\textcolor[rgb]{0.00,0.50,0.00}{##1}}}
+\@namedef{PYG@tok@m}{\def\PYG@tc##1{\textcolor[rgb]{0.40,0.40,0.40}{##1}}}
+\@namedef{PYG@tok@gh}{\let\PYG@bf=\textbf\def\PYG@tc##1{\textcolor[rgb]{0.00,0.00,0.50}{##1}}}
+\@namedef{PYG@tok@gu}{\let\PYG@bf=\textbf\def\PYG@tc##1{\textcolor[rgb]{0.50,0.00,0.50}{##1}}}
+\@namedef{PYG@tok@gd}{\def\PYG@tc##1{\textcolor[rgb]{0.63,0.00,0.00}{##1}}}
+\@namedef{PYG@tok@gi}{\def\PYG@tc##1{\textcolor[rgb]{0.00,0.52,0.00}{##1}}}
+\@namedef{PYG@tok@gr}{\def\PYG@tc##1{\textcolor[rgb]{0.89,0.00,0.00}{##1}}}
+\@namedef{PYG@tok@ge}{\let\PYG@it=\textit}
+\@namedef{PYG@tok@gs}{\let\PYG@bf=\textbf}
+\@namedef{PYG@tok@gp}{\let\PYG@bf=\textbf\def\PYG@tc##1{\textcolor[rgb]{0.00,0.00,0.50}{##1}}}
+\@namedef{PYG@tok@go}{\def\PYG@tc##1{\textcolor[rgb]{0.44,0.44,0.44}{##1}}}
+\@namedef{PYG@tok@gt}{\def\PYG@tc##1{\textcolor[rgb]{0.00,0.27,0.87}{##1}}}
+\@namedef{PYG@tok@err}{\def\PYG@bc##1{{\setlength{\fboxsep}{\string -\fboxrule}\fcolorbox[rgb]{1.00,0.00,0.00}{1,1,1}{\strut ##1}}}}
+\@namedef{PYG@tok@kc}{\let\PYG@bf=\textbf\def\PYG@tc##1{\textcolor[rgb]{0.00,0.50,0.00}{##1}}}
+\@namedef{PYG@tok@kd}{\let\PYG@bf=\textbf\def\PYG@tc##1{\textcolor[rgb]{0.00,0.50,0.00}{##1}}}
+\@namedef{PYG@tok@kn}{\let\PYG@bf=\textbf\def\PYG@tc##1{\textcolor[rgb]{0.00,0.50,0.00}{##1}}}
+\@namedef{PYG@tok@kr}{\let\PYG@bf=\textbf\def\PYG@tc##1{\textcolor[rgb]{0.00,0.50,0.00}{##1}}}
+\@namedef{PYG@tok@bp}{\def\PYG@tc##1{\textcolor[rgb]{0.00,0.50,0.00}{##1}}}
+\@namedef{PYG@tok@fm}{\def\PYG@tc##1{\textcolor[rgb]{0.00,0.00,1.00}{##1}}}
+\@namedef{PYG@tok@vc}{\def\PYG@tc##1{\textcolor[rgb]{0.10,0.09,0.49}{##1}}}
+\@namedef{PYG@tok@vg}{\def\PYG@tc##1{\textcolor[rgb]{0.10,0.09,0.49}{##1}}}
+\@namedef{PYG@tok@vi}{\def\PYG@tc##1{\textcolor[rgb]{0.10,0.09,0.49}{##1}}}
+\@namedef{PYG@tok@vm}{\def\PYG@tc##1{\textcolor[rgb]{0.10,0.09,0.49}{##1}}}
+\@namedef{PYG@tok@sa}{\def\PYG@tc##1{\textcolor[rgb]{0.73,0.13,0.13}{##1}}}
+\@namedef{PYG@tok@sb}{\def\PYG@tc##1{\textcolor[rgb]{0.73,0.13,0.13}{##1}}}
+\@namedef{PYG@tok@sc}{\def\PYG@tc##1{\textcolor[rgb]{0.73,0.13,0.13}{##1}}}
+\@namedef{PYG@tok@dl}{\def\PYG@tc##1{\textcolor[rgb]{0.73,0.13,0.13}{##1}}}
+\@namedef{PYG@tok@s2}{\def\PYG@tc##1{\textcolor[rgb]{0.73,0.13,0.13}{##1}}}
+\@namedef{PYG@tok@sh}{\def\PYG@tc##1{\textcolor[rgb]{0.73,0.13,0.13}{##1}}}
+\@namedef{PYG@tok@s1}{\def\PYG@tc##1{\textcolor[rgb]{0.73,0.13,0.13}{##1}}}
+\@namedef{PYG@tok@mb}{\def\PYG@tc##1{\textcolor[rgb]{0.40,0.40,0.40}{##1}}}
+\@namedef{PYG@tok@mf}{\def\PYG@tc##1{\textcolor[rgb]{0.40,0.40,0.40}{##1}}}
+\@namedef{PYG@tok@mh}{\def\PYG@tc##1{\textcolor[rgb]{0.40,0.40,0.40}{##1}}}
+\@namedef{PYG@tok@mi}{\def\PYG@tc##1{\textcolor[rgb]{0.40,0.40,0.40}{##1}}}
+\@namedef{PYG@tok@il}{\def\PYG@tc##1{\textcolor[rgb]{0.40,0.40,0.40}{##1}}}
+\@namedef{PYG@tok@mo}{\def\PYG@tc##1{\textcolor[rgb]{0.40,0.40,0.40}{##1}}}
+\@namedef{PYG@tok@ch}{\let\PYG@it=\textit\def\PYG@tc##1{\textcolor[rgb]{0.24,0.48,0.48}{##1}}}
+\@namedef{PYG@tok@cm}{\let\PYG@it=\textit\def\PYG@tc##1{\textcolor[rgb]{0.24,0.48,0.48}{##1}}}
+\@namedef{PYG@tok@cpf}{\let\PYG@it=\textit\def\PYG@tc##1{\textcolor[rgb]{0.24,0.48,0.48}{##1}}}
+\@namedef{PYG@tok@c1}{\let\PYG@it=\textit\def\PYG@tc##1{\textcolor[rgb]{0.24,0.48,0.48}{##1}}}
+\@namedef{PYG@tok@cs}{\let\PYG@it=\textit\def\PYG@tc##1{\textcolor[rgb]{0.24,0.48,0.48}{##1}}}
+
+\def\PYGZbs{\char`\\}
+\def\PYGZus{\char`\_}
+\def\PYGZob{\char`\{}
+\def\PYGZcb{\char`\}}
+\def\PYGZca{\char`\^}
+\def\PYGZam{\char`\&}
+\def\PYGZlt{\char`\<}
+\def\PYGZgt{\char`\>}
+\def\PYGZsh{\char`\#}
+\def\PYGZpc{\char`\%}
+\def\PYGZdl{\char`\$}
+\def\PYGZhy{\char`\-}
+\def\PYGZsq{\char`\'}
+\def\PYGZdq{\char`\"}
+\def\PYGZti{\char`\~}
+% for compatibility with earlier versions
+\def\PYGZat{@}
+\def\PYGZlb{[}
+\def\PYGZrb{]}
+\makeatother
+
diff --git a/img/MA-Konzept-Ãœbersicht.drawio.pdf b/img/MA-Konzept-Ãœbersicht.drawio.pdf
index 501a58c..2893fdb 100644
Binary files a/img/MA-Konzept-Ãœbersicht.drawio.pdf and b/img/MA-Konzept-Ãœbersicht.drawio.pdf differ
diff --git a/img/MA-Umsetzung-Animation-Auswahl.png b/img/MA-Umsetzung-Animation-Auswahl.png
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diff --git a/img/MA-Umsetzung-Animation-GameRig-Bake.png b/img/MA-Umsetzung-Animation-GameRig-Bake.png
new file mode 100644
index 0000000..c5c30b6
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diff --git a/img/MA-Umsetzung-Animation-GameRig-Selection.png b/img/MA-Umsetzung-Animation-GameRig-Selection.png
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diff --git a/img/MA-Umsetzung-Animation-GameRig.png b/img/MA-Umsetzung-Animation-GameRig.png
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index 0000000..1ec6116
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diff --git a/img/MA-Umsetzung-Animation-GameRig2.png b/img/MA-Umsetzung-Animation-GameRig2.png
new file mode 100644
index 0000000..f1ddf22
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diff --git a/img/MA-Umsetzung-Animation-Prepare-Src.png b/img/MA-Umsetzung-Animation-Prepare-Src.png
new file mode 100644
index 0000000..5f78a7d
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diff --git a/img/MA-Umsetzung-Animation-Prepare.png b/img/MA-Umsetzung-Animation-Prepare.png
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diff --git a/img/MA-Umsetzung-Animation-Prepare2-Src.png b/img/MA-Umsetzung-Animation-Prepare2-Src.png
new file mode 100644
index 0000000..6d53ce5
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diff --git a/img/MA-Umsetzung-Animation-Prepare2.png b/img/MA-Umsetzung-Animation-Prepare2.png
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diff --git a/img/MA-Umsetzung-Animation-Save-Src.png b/img/MA-Umsetzung-Animation-Save-Src.png
new file mode 100644
index 0000000..e66ee5a
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diff --git a/img/MA-Umsetzung-Animation-Save.png b/img/MA-Umsetzung-Animation-Save.png
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index 0000000..0dedfc2
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diff --git a/img/MA-Umsetzung-Animation-Save2-Src.png b/img/MA-Umsetzung-Animation-Save2-Src.png
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index 0000000..e144ee9
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diff --git a/img/MA-Umsetzung-Animation-Save2.png b/img/MA-Umsetzung-Animation-Save2.png
new file mode 100644
index 0000000..36b9821
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diff --git a/img/MA-Umsetzung-Joint.png b/img/MA-Umsetzung-Joint.png
new file mode 100644
index 0000000..57f7e9b
Binary files /dev/null and b/img/MA-Umsetzung-Joint.png differ
diff --git a/img/MA-Umsetzung-Lapce.png b/img/MA-Umsetzung-Lapce.png
new file mode 100644
index 0000000..2c099fb
Binary files /dev/null and b/img/MA-Umsetzung-Lapce.png differ
diff --git a/img/MA-Umsetzung-Person-Armature.png b/img/MA-Umsetzung-Person-Armature.png
new file mode 100644
index 0000000..6f1bb99
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diff --git a/img/MA-Umsetzung-Person-Bones.png b/img/MA-Umsetzung-Person-Bones.png
new file mode 100644
index 0000000..6d69ee5
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diff --git a/main.aux b/main.aux
new file mode 100644
index 0000000..a0d7987
--- /dev/null
+++ b/main.aux
@@ -0,0 +1,347 @@
+\relax
+\providecommand*\new@tpo@label[2]{}
+\providecommand\babel@aux[2]{}
+\@nameuse{bbl@beforestart}
+\catcode `"\active
+\abx@aux@refcontext{nty/global//global/global}
+\providecommand\hyper@newdestlabel[2]{}
+\providecommand\HyperFirstAtBeginDocument{\AtBeginDocument}
+\HyperFirstAtBeginDocument{\ifx\hyper@anchor\@undefined
+\global\let\oldnewlabel\newlabel
+\gdef\newlabel#1#2{\newlabelxx{#1}#2}
+\gdef\newlabelxx#1#2#3#4#5#6{\oldnewlabel{#1}{{#2}{#3}}}
+\AtEndDocument{\ifx\hyper@anchor\@undefined
+\let\newlabel\oldnewlabel
+\fi}
+\fi}
+\global\let\hyper@last\relax
+\gdef\HyperFirstAtBeginDocument#1{#1}
+\providecommand\HyField@AuxAddToFields[1]{}
+\providecommand\HyField@AuxAddToCoFields[2]{}
+\providecommand\BKM@entry[2]{}
+\catcode 95\active
+\@writefile{toc}{\acswitchoff }
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+\ACRO{total-barriers}{1}
+\providecommand\totalcount@set[2]{}
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+\ACRO{usage}{mrk=={0}}
+\abx@aux@read@bbl@mdfivesum{615C50B9B95C7B88A6BAC6B451B896D1}
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+\@writefile{toc}{\providecommand\tocbasic@end@toc@file{}\tocbasic@end@toc@file}
+\@writefile{lof}{\providecommand\tocbasic@end@toc@file{}\tocbasic@end@toc@file}
+\gdef \@abspage@last{63}
diff --git a/main.bbl b/main.bbl
index f796275..07a5d96 100644
--- a/main.bbl
+++ b/main.bbl
@@ -19,6 +19,74 @@
\refsection{0}
\datalist[entry]{nty/global//global/global}
+ \entry{gamerig}{misc}{}
+ \field{sortinit}{A}
+ \field{sortinithash}{2f401846e2029bad6b3ecc16d50031e2}
+ \field{labeltitlesource}{title}
+ \field{note}{letzter Zugriff: 23.04.2023}
+ \field{title}{Arminando/GameRig: GameRig is an auto rigging for games addon for Blender. Built on top of Rigify, it adds rigs, metarigs and additional functionality that enable game engine friendly rig creation. Open source and can be used for personal and commercial projects.}
+ \verb{urlraw}
+ \verb https://github.com/Arminando/GameRig
+ \endverb
+ \verb{url}
+ \verb https://github.com/Arminando/GameRig
+ \endverb
+ \endentry
+ \entry{1087032}{article}{}
+ \name{author}{1}{}{%
+ {{hash=3d750c4d36f30d3cb25be30be5c1870b}{%
+ family={Brooks},
+ familyi={B\bibinitperiod},
+ given={R.},
+ giveni={R\bibinitperiod}}}%
+ }
+ \strng{namehash}{3d750c4d36f30d3cb25be30be5c1870b}
+ \strng{fullhash}{3d750c4d36f30d3cb25be30be5c1870b}
+ \strng{bibnamehash}{3d750c4d36f30d3cb25be30be5c1870b}
+ \strng{authorbibnamehash}{3d750c4d36f30d3cb25be30be5c1870b}
+ \strng{authornamehash}{3d750c4d36f30d3cb25be30be5c1870b}
+ \strng{authorfullhash}{3d750c4d36f30d3cb25be30be5c1870b}
+ \field{sortinit}{B}
+ \field{sortinithash}{d7095fff47cda75ca2589920aae98399}
+ \field{labelnamesource}{author}
+ \field{labeltitlesource}{title}
+ \field{journaltitle}{IEEE Journal on Robotics and Automation}
+ \field{number}{1}
+ \field{title}{A robust layered control system for a mobile robot}
+ \field{volume}{2}
+ \field{year}{1986}
+ \field{pages}{14\bibrangedash 23}
+ \range{pages}{10}
+ \verb{doi}
+ \verb 10.1109/JRA.1986.1087032
+ \endverb
+ \endentry
+ \entry{cmake}{misc}{}
+ \field{sortinit}{C}
+ \field{sortinithash}{4d103a86280481745c9c897c925753c0}
+ \field{labeltitlesource}{title}
+ \field{note}{letzter Zugriff: 23.04.2023}
+ \field{title}{CMake}
+ \verb{urlraw}
+ \verb https://cmake.org/
+ \endverb
+ \verb{url}
+ \verb https://cmake.org/
+ \endverb
+ \endentry
+ \entry{cobot}{misc}{}
+ \field{sortinit}{C}
+ \field{sortinithash}{4d103a86280481745c9c897c925753c0}
+ \field{labeltitlesource}{title}
+ \field{note}{letzter Zugriff: 18.4.2022}
+ \field{title}{Cobots: der intelligente Roboter als Kollege}
+ \verb{urlraw}
+ \verb https://www.kuka.com/de-de/future-production/mensch-roboter-kollaboration/cobots
+ \endverb
+ \verb{url}
+ \verb https://www.kuka.com/de-de/future-production/mensch-roboter-kollaboration/cobots
+ \endverb
+ \endentry
\entry{colcon}{misc}{}
\field{sortinit}{c}
\field{sortinithash}{4d103a86280481745c9c897c925753c0}
@@ -32,6 +100,175 @@
\verb https://colcon.readthedocs.io/en/released/
\endverb
\endentry
+ \entry{btintro}{book}{}
+ \name{author}{2}{}{%
+ {{hash=db7c35906ea6fb15b4ad802938cde9b5}{%
+ family={Colledanchise},
+ familyi={C\bibinitperiod},
+ given={Michele},
+ giveni={M\bibinitperiod}}}%
+ {{hash=ebd3acb81e2d857e368ec17c18bec591}{%
+ family={Ögren},
+ familyi={Ö\bibinitperiod},
+ given={Petter},
+ giveni={P\bibinitperiod}}}%
+ }
+ \strng{namehash}{a7ac798c3a7f5340156bccfc5c9a4bdf}
+ \strng{fullhash}{a7ac798c3a7f5340156bccfc5c9a4bdf}
+ \strng{bibnamehash}{a7ac798c3a7f5340156bccfc5c9a4bdf}
+ \strng{authorbibnamehash}{a7ac798c3a7f5340156bccfc5c9a4bdf}
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+ \strng{authorfullhash}{a7ac798c3a7f5340156bccfc5c9a4bdf}
+ \field{sortinit}{C}
+ \field{sortinithash}{4d103a86280481745c9c897c925753c0}
+ \field{labelnamesource}{author}
+ \field{labeltitlesource}{title}
+ \field{journaltitle}{CRC Press}
+ \field{title}{Behavior Trees in Robotics and AI - An Introduction}
+ \field{year}{2018}
+ \verb{doi}
+ \verb https://doi.org/10.1201/9780429489105
+ \endverb
+ \endentry
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+ \name{author}{3}{}{%
+ {{hash=f2dc35051dfb5b500d5402c64759f099}{%
+ family={Dombrowski},
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+ given={Uwe},
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+ {{hash=68eeb042550b17c611d6249fcb1e14a7}{%
+ family={Stefanak},
+ familyi={S\bibinitperiod},
+ given={Tobias},
+ giveni={T\bibinitperiod}}}%
+ {{hash=9ec1975d8ae166000acc0cce4dcb58d7}{%
+ family={Perret},
+ familyi={P\bibinitperiod},
+ given={Jérôme},
+ giveni={J\bibinitperiod}}}%
+ }
+ \strng{namehash}{e4d9514f8a853c3f8392ba05b5ad0d42}
+ \strng{fullhash}{e4d9514f8a853c3f8392ba05b5ad0d42}
+ \strng{bibnamehash}{e4d9514f8a853c3f8392ba05b5ad0d42}
+ \strng{authorbibnamehash}{e4d9514f8a853c3f8392ba05b5ad0d42}
+ \strng{authornamehash}{e4d9514f8a853c3f8392ba05b5ad0d42}
+ \strng{authorfullhash}{e4d9514f8a853c3f8392ba05b5ad0d42}
+ \field{sortinit}{D}
+ \field{sortinithash}{6f385f66841fb5e82009dc833c761848}
+ \field{labelnamesource}{author}
+ \field{labeltitlesource}{title}
+ \field{journaltitle}{Procedia Manufacturing}
+ \field{month}{12}
+ \field{title}{Interactive Simulation of Human-robot Collaboration Using a Force Feedback Device}
+ \field{volume}{11}
+ \field{year}{2017}
+ \field{pages}{124\bibrangedash 131}
+ \range{pages}{8}
+ \verb{doi}
+ \verb 10.1016/j.promfg.2017.07.210
+ \endverb
+ \endentry
+ \entry{DOMBROWSKI2018134}{article}{}
+ \name{author}{3}{}{%
+ {{hash=f2dc35051dfb5b500d5402c64759f099}{%
+ family={Dombrowski},
+ familyi={D\bibinitperiod},
+ given={Uwe},
+ giveni={U\bibinitperiod}}}%
+ {{hash=68eeb042550b17c611d6249fcb1e14a7}{%
+ family={Stefanak},
+ familyi={S\bibinitperiod},
+ given={Tobias},
+ giveni={T\bibinitperiod}}}%
+ {{hash=db67f8b79eeeb57441d27000b23d527e}{%
+ family={Reimer},
+ familyi={R\bibinitperiod},
+ given={Anne},
+ giveni={A\bibinitperiod}}}%
+ }
+ \strng{namehash}{6b4730d5f57faa6cb0e5bcbbd4041102}
+ \strng{fullhash}{6b4730d5f57faa6cb0e5bcbbd4041102}
+ \strng{bibnamehash}{6b4730d5f57faa6cb0e5bcbbd4041102}
+ \strng{authorbibnamehash}{6b4730d5f57faa6cb0e5bcbbd4041102}
+ \strng{authornamehash}{6b4730d5f57faa6cb0e5bcbbd4041102}
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+ \field{sortinit}{D}
+ \field{sortinithash}{6f385f66841fb5e82009dc833c761848}
+ \field{labelnamesource}{author}
+ \field{labeltitlesource}{title}
+ \field{abstract}{In this paper, we show the importance of digital factory tools for the planning of human-robot collaboration (HRC), the associated risk assessment and the safety certification of the entire HRC-application. Referring to the structure of this paper, first we define the requirements of the simulation of human-robot collaboration by means of power and force limiting by inherent design or control. Then we review the state-of-the-art of domain of robotic simulation. We demonstrate how to determine the force and pressure in case of a direct collision between human and robot for industrial safety certification. With the help of a detailed parameter study, we reduce the needed parameters for the simulation of HRC to the relevant factors. Finally, the paper shows how to use the approach of simulation to reduce the time and costs for the implementation of real HRC-scenarios into the factory of tomorrow.}
+ \field{issn}{2351-9789}
+ \field{journaltitle}{Procedia Manufacturing}
+ \field{note}{28th International Conference on Flexible Automation and Intelligent Manufacturing (FAIM2018), June 11-14, 2018, Columbus, OH, USAGlobal Integration of Intelligent Manufacturing and Smart Industry for Good of Humanity}
+ \field{title}{Simulation of human-robot collaboration by means of power and force limiting}
+ \field{volume}{17}
+ \field{year}{2018}
+ \field{pages}{134\bibrangedash 141}
+ \range{pages}{8}
+ \verb{doi}
+ \verb https://doi.org/10.1016/j.promfg.2018.10.028
+ \endverb
+ \verb{urlraw}
+ \verb https://www.sciencedirect.com/science/article/pii/S2351978918311442
+ \endverb
+ \verb{url}
+ \verb https://www.sciencedirect.com/science/article/pii/S2351978918311442
+ \endverb
+ \keyw{Interactive simulation,collaborative robotics,occupational safety,health,manufacturing ergonomics,modeling,simulation,human factors,smart manufacturing}
+ \endentry
+ \entry{freecad}{misc}{}
+ \field{sortinit}{F}
+ \field{sortinithash}{2638baaa20439f1b5a8f80c6c08a13b4}
+ \field{labeltitlesource}{title}
+ \field{note}{letzter Zugriff: 21.04.2023}
+ \field{title}{FreeCAD: Ihr parametrischer 3D-Modellierer}
+ \verb{urlraw}
+ \verb https://www.freecad.org/index.php?lang=de
+ \endverb
+ \verb{url}
+ \verb https://www.freecad.org/index.php?lang=de
+ \endverb
+ \endentry
+ \entry{gazebo}{misc}{}
+ \field{sortinit}{G}
+ \field{sortinithash}{32d67eca0634bf53703493fb1090a2e8}
+ \field{labeltitlesource}{title}
+ \field{note}{letzter Zugriff: 23.04.2023}
+ \field{title}{Gazebo}
+ \verb{urlraw}
+ \verb https://staging.gazebosim.org/home
+ \endverb
+ \verb{url}
+ \verb https://staging.gazebosim.org/home
+ \endverb
+ \endentry
+ \entry{gazebo-app}{misc}{}
+ \field{sortinit}{G}
+ \field{sortinithash}{32d67eca0634bf53703493fb1090a2e8}
+ \field{labeltitlesource}{title}
+ \field{note}{letzter Zugriff: 23.04.2023}
+ \field{title}{Gazebo}
+ \verb{urlraw}
+ \verb https://app.gazebosim.org/dashboard
+ \endverb
+ \verb{url}
+ \verb https://app.gazebosim.org/dashboard
+ \endverb
+ \endentry
+ \entry{halo2}{misc}{}
+ \field{sortinit}{G}
+ \field{sortinithash}{32d67eca0634bf53703493fb1090a2e8}
+ \field{labeltitlesource}{title}
+ \field{note}{letzter Zugriff: 18.05.2023}
+ \field{title}{GDC 2005 Proceeding: Handling Complexity in the Halo 2 AI}
+ \verb{urlraw}
+ \verb https://www.gamedeveloper.com/programming/gdc-2005-proceeding-handling-complexity-in-the-i-halo-2-i-ai
+ \endverb
+ \verb{url}
+ \verb https://www.gamedeveloper.com/programming/gdc-2005-proceeding-handling-complexity-in-the-i-halo-2-i-ai
+ \endverb
+ \endentry
\entry{ros-git}{misc}{}
\field{sortinit}{G}
\field{sortinithash}{32d67eca0634bf53703493fb1090a2e8}
@@ -45,6 +282,40 @@
\verb https://github.com/ros2/ros2
\endverb
\endentry
+ \entry{godot}{misc}{}
+ \field{sortinit}{G}
+ \field{sortinithash}{32d67eca0634bf53703493fb1090a2e8}
+ \field{labeltitlesource}{title}
+ \field{note}{letzter Zugriff: 10.04.2023}
+ \field{title}{Godot Engine - Free and open source 2D and 3D game engine}
+ \verb{urlraw}
+ \verb https://godotengine.org
+ \endverb
+ \verb{url}
+ \verb https://godotengine.org
+ \endverb
+ \endentry
+ \entry{isla2005handling}{misc}{}
+ \name{author}{1}{}{%
+ {{hash=04a4610505a94b6883df923efb3f2f3e}{%
+ family={Isla},
+ familyi={I\bibinitperiod},
+ given={D},
+ giveni={D\bibinitperiod}}}%
+ }
+ \strng{namehash}{04a4610505a94b6883df923efb3f2f3e}
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+ \field{sortinit}{I}
+ \field{sortinithash}{8d291c51ee89b6cd86bf5379f0b151d8}
+ \field{labelnamesource}{author}
+ \field{labeltitlesource}{title}
+ \field{title}{Handling complexity in the halo 2 ai. GDC 2005 Proceedings}
+ \field{year}{2005}
+ \endentry
\entry{doi:10.1126/scirobotics.abm6074}{article}{}
\name{author}{5}{}{%
{{hash=7b84d10a03303cd00f198fefb38a5da3}{%
@@ -100,6 +371,19 @@
\verb https://www.science.org/doi/abs/10.1126/scirobotics.abm6074
\endverb
\endentry
+ \entry{moveit-docs}{misc}{}
+ \field{sortinit}{M}
+ \field{sortinithash}{4625c616857f13d17ce56f7d4f97d451}
+ \field{labeltitlesource}{title}
+ \field{note}{letzter Zugriff: 13.4.2022}
+ \field{title}{MoveIt 2 Documentation}
+ \verb{urlraw}
+ \verb https://moveit.picknik.ai/galactic/index.html
+ \endverb
+ \verb{url}
+ \verb https://moveit.picknik.ai/galactic/index.html
+ \endverb
+ \endentry
\entry{moveitpython}{misc}{}
\field{sortinit}{M}
\field{sortinithash}{4625c616857f13d17ce56f7d4f97d451}
@@ -126,6 +410,19 @@
\verb https://github.com/ros-planning/moveit2_tutorials/blob/humble/_static/images/moveit_pipeline.png
\endverb
\endentry
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+ \field{sortinit}{O}
+ \field{sortinithash}{2cd7140a07aea5341f9e2771efe90aae}
+ \field{labeltitlesource}{title}
+ \field{note}{letzter Zugriff: 13.4.2022}
+ \field{title}{OctoMap}
+ \verb{urlraw}
+ \verb https://octomap.github.io
+ \endverb
+ \verb{url}
+ \verb https://octomap.github.io
+ \endverb
+ \endentry
\entry{rospackages}{misc}{}
\field{sortinit}{P}
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@@ -139,6 +436,110 @@
\verb http://packages.ros.org/ros2/ubuntu/pool/main/
\endverb
\endentry
+ \entry{rigify}{misc}{}
+ \field{sortinit}{R}
+ \field{sortinithash}{5e1c39a9d46ffb6bebd8f801023a9486}
+ \field{labeltitlesource}{title}
+ \field{note}{letzter Zugriff: 23.04.2023}
+ \field{title}{Rigify — Blender Manual}
+ \verb{urlraw}
+ \verb https://docs.blender.org/manual/en/3.5/addons/rigging/rigify/index.html
+ \endverb
+ \verb{url}
+ \verb https://docs.blender.org/manual/en/3.5/addons/rigging/rigify/index.html
+ \endverb
+ \endentry
+ \entry{coppelia}{misc}{}
+ \field{sortinit}{R}
+ \field{sortinithash}{5e1c39a9d46ffb6bebd8f801023a9486}
+ \field{labeltitlesource}{title}
+ \field{note}{letzter Zugriff: 23.04.2023}
+ \field{title}{Robot simulator CoppeliaSim: create, compose, simulate, any robot - Coppelia Robotics}
+ \verb{urlraw}
+ \verb https://www.coppeliarobotics.com/
+ \endverb
+ \verb{url}
+ \verb https://www.coppeliarobotics.com/
+ \endverb
+ \endentry
+ \entry{sdf-format}{misc}{}
+ \field{sortinit}{S}
+ \field{sortinithash}{b164b07b29984b41daf1e85279fbc5ab}
+ \field{labeltitlesource}{title}
+ \field{note}{letzter Zugriff: 23.04.2023}
+ \field{title}{SDFormat Specification}
+ \verb{urlraw}
+ \verb https://sdformat.org/spec
+ \endverb
+ \verb{url}
+ \verb https://sdformat.org/spec
+ \endverb
+ \endentry
+ \entry{cpp}{misc}{}
+ \field{sortinit}{S}
+ \field{sortinithash}{b164b07b29984b41daf1e85279fbc5ab}
+ \field{labeltitlesource}{title}
+ \field{note}{letzter Zugriff: 23.04.2023}
+ \field{title}{Standard C++}
+ \verb{urlraw}
+ \verb https://isocpp.org
+ \endverb
+ \verb{url}
+ \verb https://isocpp.org
+ \endverb
+ \endentry
+ \entry{unreal}{misc}{}
+ \field{sortinit}{T}
+ \field{sortinithash}{9af77f0292593c26bde9a56e688eaee9}
+ \field{labeltitlesource}{title}
+ \field{note}{letzter Zugriff: 10.04.2023}
+ \field{title}{The most powerful real-time 3D creation tool - Unreal Engine}
+ \verb{urlraw}
+ \verb https://www.unrealengine.com
+ \endverb
+ \verb{url}
+ \verb https://www.unrealengine.com
+ \endverb
+ \endentry
+ \entry{unity}{misc}{}
+ \field{sortinit}{U}
+ \field{sortinithash}{6901a00e45705986ee5e7ca9fd39adca}
+ \field{labeltitlesource}{title}
+ \field{note}{letzter Zugriff: 10.04.2023}
+ \field{title}{Unity Real-Time Development Platform | 3D, 2D, VR \& AR Engine}
+ \verb{urlraw}
+ \verb https://unity.com
+ \endverb
+ \verb{url}
+ \verb https://unity.com
+ \endverb
+ \endentry
+ \entry{urdf-format}{misc}{}
+ \field{sortinit}{u}
+ \field{sortinithash}{6901a00e45705986ee5e7ca9fd39adca}
+ \field{labeltitlesource}{title}
+ \field{note}{letzter Zugriff: 23.04.2023}
+ \field{title}{urdf/XML ROS Wiki}
+ \verb{urlraw}
+ \verb http://wiki.ros.org/urdf/XML
+ \endverb
+ \verb{url}
+ \verb http://wiki.ros.org/urdf/XML
+ \endverb
+ \endentry
+ \entry{python}{misc}{}
+ \field{sortinit}{W}
+ \field{sortinithash}{4315d78024d0cea9b57a0c6f0e35ed0d}
+ \field{labeltitlesource}{title}
+ \field{note}{letzter Zugriff: 23.04.2023}
+ \field{title}{Welcome to Python.org}
+ \verb{urlraw}
+ \verb https://www.python.org
+ \endverb
+ \verb{url}
+ \verb https://www.python.org
+ \endverb
+ \endentry
\enddatalist
\endrefsection
\endinput
diff --git a/main.bcf b/main.bcf
index 3728ade..7619d2c 100644
--- a/main.bcf
+++ b/main.bcf
@@ -2361,13 +2361,41 @@
main.bib
- rospackages
- doi:10.1126/scirobotics.abm6074
- ros-git
- colcon
- moveitpython
- moveitpipeline
- moveitpipeline
+ moveitpipeline
+ DOMBROWSKI2018134
+ ffdrobotsim
+ btintro
+ halo2
+ cobot
+ 1087032
+ isla2005handling
+ doi:10.1126/scirobotics.abm6074
+ python
+ cpp
+ cmake
+ rospackages
+ doi:10.1126/scirobotics.abm6074
+ ros-git
+ colcon
+ cmake
+ coppelia
+ gazebo
+ unity
+ unreal
+ godot
+ sdf-format
+ gazebo-app
+ urdf-format
+ moveit-docs
+ moveitpython
+ python
+ cpp
+ rigify
+ gamerig
+ freecad
+ octomap
+ moveitpipeline
+ moveitpipeline
diff --git a/main.bib b/main.bib
index fe08f02..cf8b261 100644
--- a/main.bib
+++ b/main.bib
@@ -1,10 +1,3 @@
-
-@misc{moveitProgress,
- title = {Fortschritt der Entwicklung von MoveIt 2},
- url = {https://docs.google.com/spreadsheets/d/1aPb3hNP213iPHQIYgcnCYh9cGFUlZmi_06E_9iTSsOI/edit#gid=0},
- note = {letzter Zugriff: 5.4.2022},
-}
-
@misc{quaternion,
title = {Humane Rigging 03 - 3D Bouncy Ball 05 - Quaternion Rotation},
url = {https://www.youtube.com/watch?v=4mXL751ko0w},
@@ -29,7 +22,7 @@
note = {letzter Zugriff: 13.4.2022},
}
-@misc{moveit_docs,
+@misc{moveit-docs,
title = {MoveIt 2 Documentation},
url = {https://moveit.picknik.ai/galactic/index.html},
note = {letzter Zugriff: 13.4.2022},
@@ -131,12 +124,30 @@
note = {letzter Zugriff: 10.04.2023},
}
+@misc{unity,
+ title = {Unity Real-Time Development Platform | 3D, 2D, VR \& AR Engine},
+ url = {https://unity.com},
+ note = {letzter Zugriff: 10.04.2023},
+}
+
@misc{unityroboticsofficial,
title = {Robotics Simulation | Unity},
url = {https://unity.com/solutions/automotive-transportation-manufacturing/robotics},
note = {letzter Zugriff: 10.04.2023},
}
+@misc{unreal,
+ title = {The most powerful real-time 3D creation tool - Unreal Engine},
+ url = {https://www.unrealengine.com},
+ note = {letzter Zugriff: 10.04.2023},
+}
+
+@misc{godot,
+ title = {Godot Engine - Free and open source 2D and 3D game engine},
+ url = {https://godotengine.org},
+ note = {letzter Zugriff: 10.04.2023},
+}
+
@misc{freecad,
title = {FreeCAD: Ihr parametrischer 3D-Modellierer},
url = {https://www.freecad.org/index.php?lang=de},
@@ -149,6 +160,12 @@
note = {letzter Zugriff: 21.04.2023},
}
+@misc{gazebo,
+ title = {Gazebo},
+ url = {https://staging.gazebosim.org/home},
+ note = {letzter Zugriff: 23.04.2023},
+}
+
@misc{gazebo-app,
title = {Gazebo},
url = {https://app.gazebosim.org/dashboard},
@@ -160,3 +177,102 @@
url = {https://sdformat.org/spec},
note = {letzter Zugriff: 23.04.2023},
}
+
+@misc{urdf-format,
+ title = {urdf/XML ROS Wiki},
+ url = {http://wiki.ros.org/urdf/XML},
+ note = {letzter Zugriff: 23.04.2023},
+}
+
+@ARTICLE{1087032,
+ author={Brooks, R.},
+ journal={IEEE Journal on Robotics and Automation},
+ title={A robust layered control system for a mobile robot},
+ year={1986},
+ volume={2},
+ number={1},
+ pages={14-23},
+ doi={10.1109/JRA.1986.1087032}
+}
+
+@misc{cmake,
+ title = {CMake},
+ url = {https://cmake.org/},
+ note = {letzter Zugriff: 23.04.2023},
+}
+
+@misc{coppelia,
+ title = {Robot simulator CoppeliaSim: create, compose, simulate, any robot - Coppelia Robotics},
+ url = {https://www.coppeliarobotics.com/},
+ note = {letzter Zugriff: 23.04.2023},
+}
+
+@misc{rigify,
+ title = {Rigify — Blender Manual},
+ url = {https://docs.blender.org/manual/en/3.5/addons/rigging/rigify/index.html},
+ note = {letzter Zugriff: 23.04.2023},
+}
+
+@misc{gamerig,
+ title = {Arminando/GameRig: GameRig is an auto rigging for games addon for Blender. Built on top of Rigify, it adds rigs, metarigs and additional functionality that enable game engine friendly rig creation. Open source and can be used for personal and commercial projects.},
+ url = {https://github.com/Arminando/GameRig},
+ note = {letzter Zugriff: 23.04.2023},
+}
+
+@misc{cpp,
+ title = {Standard C++},
+ url = {https://isocpp.org},
+ note = {letzter Zugriff: 23.04.2023},
+}
+
+@misc{python,
+ title = {Welcome to Python.org},
+ url = {https://www.python.org},
+ note = {letzter Zugriff: 23.04.2023},
+}
+
+@article{DOMBROWSKI2018134,
+title = {Simulation of human-robot collaboration by means of power and force limiting},
+journal = {Procedia Manufacturing},
+volume = {17},
+pages = {134-141},
+year = {2018},
+note = {28th International Conference on Flexible Automation and Intelligent Manufacturing (FAIM2018), June 11-14, 2018, Columbus, OH, USAGlobal Integration of Intelligent Manufacturing and Smart Industry for Good of Humanity},
+issn = {2351-9789},
+doi = {https://doi.org/10.1016/j.promfg.2018.10.028},
+url = {https://www.sciencedirect.com/science/article/pii/S2351978918311442},
+author = {Uwe Dombrowski and Tobias Stefanak and Anne Reimer},
+keywords = {Interactive simulation, collaborative robotics, occupational safety, health, manufacturing ergonomics, modeling, simulation, human factors, smart manufacturing},
+abstract = {In this paper, we show the importance of digital factory tools for the planning of human-robot collaboration (HRC), the associated risk assessment and the safety certification of the entire HRC-application. Referring to the structure of this paper, first we define the requirements of the simulation of human-robot collaboration by means of power and force limiting by inherent design or control. Then we review the state-of-the-art of domain of robotic simulation. We demonstrate how to determine the force and pressure in case of a direct collision between human and robot for industrial safety certification. With the help of a detailed parameter study, we reduce the needed parameters for the simulation of HRC to the relevant factors. Finally, the paper shows how to use the approach of simulation to reduce the time and costs for the implementation of real HRC-scenarios into the factory of tomorrow.}
+}
+
+@article{ffdrobotsim,
+author = {Dombrowski, Uwe and Stefanak, Tobias and Perret, Jérôme},
+year = {2017},
+month = {12},
+pages = {124-131},
+title = {Interactive Simulation of Human-robot Collaboration Using a Force Feedback Device},
+volume = {11},
+journal = {Procedia Manufacturing},
+doi = {10.1016/j.promfg.2017.07.210}
+}
+
+@book{btintro,
+author = { Michele Colledanchise and Petter Ögren },
+title = {Behavior Trees in Robotics and AI - An Introduction},
+year = {2018},
+journal = {CRC Press},
+doi = {https://doi.org/10.1201/9780429489105}
+}
+
+@misc{halo2,
+ title = {GDC 2005 Proceeding: Handling Complexity in the Halo 2 AI},
+ url = {https://www.gamedeveloper.com/programming/gdc-2005-proceeding-handling-complexity-in-the-i-halo-2-i-ai},
+ note = {letzter Zugriff: 18.05.2023},
+}
+
+@misc{ignPlugin,
+ title = {Ignition Gazebo: Create System Plugins},
+ url = {https://gazebosim.org/api/gazebo/2.10/createsystemplugins.html},
+ note = {letzter Zugriff 01.06.2023},
+}
diff --git a/main.blg b/main.blg
index 58c4e63..a6b7d93 100644
--- a/main.blg
+++ b/main.blg
@@ -1,15 +1,15 @@
[0] Config.pm:307> INFO - This is Biber 2.19
[0] Config.pm:310> INFO - Logfile is 'main.blg'
-[44] biber:340> INFO - === Sa Apr 15, 2023, 22:14:36
-[51] Biber.pm:419> INFO - Reading 'main.bcf'
-[88] Biber.pm:979> INFO - Found 6 citekeys in bib section 0
-[95] Biber.pm:4419> INFO - Processing section 0
-[100] Biber.pm:4610> INFO - Looking for bibtex file 'main.bib' for section 0
-[101] bibtex.pm:1713> INFO - LaTeX decoding ...
-[107] bibtex.pm:1519> INFO - Found BibTeX data source 'main.bib'
-[131] UCollate.pm:68> INFO - Overriding locale 'de-DE' defaults 'variable = shifted' with 'variable = non-ignorable'
-[131] UCollate.pm:68> INFO - Overriding locale 'de-DE' defaults 'normalization = NFD' with 'normalization = prenormalized'
-[131] Biber.pm:4239> INFO - Sorting list 'nty/global//global/global' of type 'entry' with template 'nty' and locale 'de-DE'
-[131] Biber.pm:4245> INFO - No sort tailoring available for locale 'de-DE'
-[136] bbl.pm:660> INFO - Writing 'main.bbl' with encoding 'UTF-8'
-[137] bbl.pm:763> INFO - Output to main.bbl
+[45] biber:340> INFO - === Do Mai 25, 2023, 12:54:44
+[55] Biber.pm:419> INFO - Reading 'main.bcf'
+[95] Biber.pm:979> INFO - Found 29 citekeys in bib section 0
+[102] Biber.pm:4419> INFO - Processing section 0
+[108] Biber.pm:4610> INFO - Looking for bibtex file 'main.bib' for section 0
+[109] bibtex.pm:1713> INFO - LaTeX decoding ...
+[120] bibtex.pm:1519> INFO - Found BibTeX data source 'main.bib'
+[173] UCollate.pm:68> INFO - Overriding locale 'de-DE' defaults 'variable = shifted' with 'variable = non-ignorable'
+[173] UCollate.pm:68> INFO - Overriding locale 'de-DE' defaults 'normalization = NFD' with 'normalization = prenormalized'
+[173] Biber.pm:4239> INFO - Sorting list 'nty/global//global/global' of type 'entry' with template 'nty' and locale 'de-DE'
+[173] Biber.pm:4245> INFO - No sort tailoring available for locale 'de-DE'
+[216] bbl.pm:660> INFO - Writing 'main.bbl' with encoding 'UTF-8'
+[220] bbl.pm:763> INFO - Output to main.bbl
diff --git a/main.dvi b/main.dvi
index 8755308..c88fb16 100644
Binary files a/main.dvi and b/main.dvi differ
diff --git a/main.lof b/main.lof
new file mode 100644
index 0000000..8c7942c
--- /dev/null
+++ b/main.lof
@@ -0,0 +1,27 @@
+\acswitchoff
+\babel@toc {ngerman}{}\relax
+\addvspace {10\p@ }
+\addvspace {10\p@ }
+\contentsline {figure}{\numberline {2.1}{\ignorespaces Visualisierung des Konzepts\relax }}{4}{figure.caption.3}%
+\contentsline {figure}{\numberline {2.2}{\ignorespaces Beispiel eines BehaviorTrees\relax }}{7}{figure.caption.4}%
+\addvspace {10\p@ }
+\contentsline {figure}{\numberline {3.1}{\ignorespaces Beispiel eines BehaviorTrees\relax }}{21}{figure.caption.5}%
+\contentsline {figure}{\numberline {3.2}{\ignorespaces Beispiel eines BehaviorTrees als .xml\relax }}{22}{figure.caption.6}%
+\addvspace {10\p@ }
+\contentsline {figure}{\numberline {4.1}{\ignorespaces Visualisierung des überarbeiteten Konzepts\relax }}{24}{figure.caption.7}%
+\contentsline {figure}{\numberline {4.2}{\ignorespaces Entwicklungsumgebung Lapce\relax }}{28}{figure.caption.8}%
+\contentsline {figure}{\numberline {4.3}{\ignorespaces Geplanter Raum\relax }}{30}{figure.caption.9}%
+\contentsline {figure}{\numberline {4.4}{\ignorespaces Umsetzung in Blender\relax }}{30}{figure.caption.9}%
+\contentsline {figure}{\numberline {4.5}{\ignorespaces Knochen des Modells\relax }}{32}{figure.caption.10}%
+\contentsline {figure}{\numberline {4.6}{\ignorespaces Armaturen des Modells\relax }}{32}{figure.caption.10}%
+\contentsline {figure}{\numberline {4.7}{\ignorespaces Visualisierung der generierten Beugeachse\relax }}{34}{figure.caption.11}%
+\contentsline {figure}{\numberline {4.8}{\ignorespaces Vorbereitung zum Export mit GameRig\relax }}{36}{figure.caption.12}%
+\contentsline {figure}{\numberline {4.9}{\ignorespaces Benötigte Exporteinstellungen in Blender\relax }}{36}{figure.caption.13}%
+\contentsline {figure}{\numberline {4.10}{\ignorespaces Rohdaten aus .stl-Datei\relax }}{41}{figure.caption.22}%
+\contentsline {figure}{\numberline {4.11}{\ignorespaces Visuelles Modell\relax }}{42}{figure.caption.23}%
+\contentsline {figure}{\numberline {4.12}{\ignorespaces Kollisionsmodell\relax }}{42}{figure.caption.23}%
+\addvspace {10\p@ }
+\addvspace {10\p@ }
+\addvspace {10\p@ }
+\contentsline {figure}{\numberline {7.1}{\ignorespaces Visualisierung der MoveIt Pipeline \cite {moveitpipeline}\relax }}{56}{figure.caption.47}%
+\providecommand \tocbasic@end@toc@file {}\tocbasic@end@toc@file
diff --git a/main.log b/main.log
index 197b965..df79309 100644
--- a/main.log
+++ b/main.log
@@ -1,6 +1,6 @@
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+This is pdfTeX, Version 3.141592653-2.6-1.40.25 (TeX Live 2023/Arch Linux) (preloaded format=pdflatex 2023.4.3) 25 MAY 2023 12:55
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(/usr/share/texmf-dist/tex/latex/bookmark/bookmark.sty
Package: bookmark 2020-11-06 v1.29 PDF bookmarks (HO)
(/usr/share/texmf-dist/tex/latex/bookmark/bkm-pdftex.def
File: bkm-pdftex.def 2020-11-06 v1.29 bookmark driver for pdfTeX (HO)
-\BKM@id=\count477
+\BKM@id=\count501
))
(/usr/share/texmf-dist/tex/latex/ninecolors/ninecolors.sty
Package: ninecolors 2022-02-13 vv2022D Select colors with proper color contrast
)
-LaTeX Info: Redefining \microtypecontext on input line 75.
-Package microtype Info: Applying patch `item' on input line 75.
-Package microtype Info: Applying patch `toc' on input line 75.
-Package microtype Info: Applying patch `eqnum' on input line 75.
+Package caption Info: Begin \AtBeginDocument code.
+Package caption Info: End \AtBeginDocument code.
+LaTeX Info: Redefining \microtypecontext on input line 77.
+Package microtype Info: Applying patch `item' on input line 77.
+Package microtype Info: Applying patch `toc' on input line 77.
+Package microtype Info: Applying patch `eqnum' on input line 77.
-Package microtype Warning: Unable to apply patch `footnote' on input line 75.
+Package microtype Warning: Unable to apply patch `footnote' on input line 77.
-Package microtype Info: Applying patch `verbatim' on input line 75.
+Package microtype Info: Applying patch `verbatim' on input line 77.
Package microtype Info: Generating PDF output.
Package microtype Info: Character protrusion enabled (level 2).
Package microtype Info: Using default protrusion set `alltext'.
Package microtype Info: Automatic font expansion enabled (level 2),
(microtype) stretch: 20, shrink: 20, step: 1, non-selected.
Package microtype Info: Using default expansion set `alltext-nott'.
-LaTeX Info: Redefining \showhyphens on input line 75.
+LaTeX Info: Redefining \showhyphens on input line 77.
Package microtype Info: No adjustment of tracking.
Package microtype Info: No adjustment of interword spacing.
Package microtype Info: No adjustment of character kerning.
@@ -1180,32 +1327,32 @@ File: mt-cmr.cfg 2013/05/19 v2.2 microtype config. file: Computer Modern Roman
File: tex/Deckblatt.pdf Graphic file (type pdf)