Veröffentlichungen

Sewtz et al. "Robust Approaches for Localization on Multi-Camera Systems in Dynamic Environments" in International Conference on Automation, Robotics and Applications (ICARA), 2021, Prague.

2020

Peter Schmaus, Daniel Leidner, Thomas Krüger, Ralph Bayer, Benedikt Pleintinger, André Schiele, and Neal Y. Lii, “Knowledge Driven Orbit-to-Ground Teleoperation of a Robot Coworker”, IEEE Robotics and Automation Letters, 5 (1), Seiten 143-150. IEEE - Institute of Electrical and Electronics Engineers. DOI: 10.1109/LRA.2019.2948128 ISSN 2377-3766, 2020.

Jörn Vogel, Daniel Leidner, Annette Hagengruber, Michael Panzirsch, Berthold Bäuml, Maximilian Denninger, Ulrich Hillenbrand, Lioba Suchenwirth, Peter Schmaus, Marco Sewtz, Adrian Bauer, Thomas Hulin, Maged Iskandar, Gabriel Quere, Alin Albu-Schäffer, and Alexander Dietrich, "An Ecosystem for Heterogeneous Robotic Assistants in Caregiving", accepted for publication in IEEE Robotics and Automation Magazine (RAM), 2020.

Freek Stulp, Adrian Simon Bauer, Samuel Bustamante Gomez, Florian Samuel Lay, Peter Schmaus, and Daniel Leidner, “Explainability and Knowledge Representation in Robotics: The Green Button Challenge”, Explainable Logic-Based Knowledge Representation (XLoKR 2020) at the 17th International Conference on Principles of Knowledge Representation and Reasoning (KR 2020), September 12-18, 2020, Virtual event, 2020.

Adrian Simon Bauer, Peter Schmaus, Freek Stulp, and Daniel Leidner, “Probabilistic Effect Prediction through Semantic Augmentation and Physical Simulation”, In: IEEE International Conference on Robotics and Automation ICRA, Seiten 9278-9284. IEEE International Conference on Robotics and Automation (ICRA), 31. May - 31. Aug 2020, Paris, France. DOI: 10.1109/ICRA40945.2020.9197477, 2020.

Marco Sewtz, Tim Bodenmüller, and Rudolph Triebel, “Sound Source Localization for Robotic Application”, In: ICRA Workshop. Unconventional Sensor in Robotics, Paris, Frankreich, 2020.

Marco Sewtz, Tim Bodenmüller, and Rudolph Triebel, “Robust MUSIC-Based Sound Source Localization in Reverberant and Echoic Environments”, In: 2020 IEEE International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Robots and Systems IROS, Las Vegas, USA, 2020.

2019

Ralph Bayer, Peter Schmaus, Martin Pfau, Benedikt Pleintinger, Daniel Leidner, Fabian Wappler, Annika Maier, Thomas Krueger, and Neal Yi-Sheng Lii, “Deployment of the SOLEX Environment for Analog Space Telerobotics Validation”, In: Proceedings of the International Astronautical Congress, IAC. International Astronautical Congress 2019, 21.-25. Okt. 2019, Washington, D.C., United States of America (USA), 2019.

Peter Schmaus, Daniel Leidner, Ralph Bayer, Benedikt Pleintinger, Thomas Krüger, and Neal Y. Lii, “Continued Advances in Supervised Autonomy User Interface Design for METERON SUPVIS Justin”, In: IEEE Aerospace Conference Proceedings. IEEE Computer Society. 2019 IEEE Aerospace Conference, 2-9 March 2019, Big Sky, MT, USA, USA. DOI: 10.1109/AERO.2019.8741885 ISBN 978-153866854-2 ISSN 1095323X, 2019.

Daniel Leidner, Peter Schmaus, Florian Schmidt, Adrian Simon Bauer, Benedikt Pleintinger, Ralph Bayer, Thomas Krueger, André Schiele, and Neal Yi-Sheng Lii, „Global Remote Operation of Intelligent Space Robot Assistants“, Thirty-Third AAAI Conference on Artificial Intelligence (AAAI-19), January 27 – February 1, 2019, Honolulu, Hawaii, USA, 2019.

Daniel Leidner, “Cognitive Reasoning for Compliant Robot Manipulation”, Springer Tracts in Advanced Robotics, 127. Springer. ISBN 978-3-030-04857-0. ISSN 1610-7438, 2019.

Daniel Leidner, “On Cognitive Reasoning for Compliant Manipulation Tasks in Smart Production Environments”, KI - Künstliche Intelligenz, 2019 (2). Springer. ISSN 0933-1875, 2019.

Marco Sewtz, Tim Bodenmüller, and Rudolph Triebel, “Design of a Microphone Array for Rollin Justin”, In: ICRA Workshop. Sound Source Localization and its Application for Robots, Montreal, Canada, 2019.

2018

Peter Birkenkampf, Daniel Leidner, Thomas Krüger, Andre Schiele, Benedikt Pleintinger, Ralph Bayer, and Neal Y. Lii. „Preliminary Results of the METERON SUPVIS Justin Space-Robotics Experiment”, IEEE Robotics and Automation Letters (RA-L), vol. 3, no. 4, pp. 3836--3843, October 2018.

Adrian Simon Bauer, Peter Birkenkampf, Alin Albu-Schäffer, and Daniel Leidner. „Inferring Semantic State Transitions during Telerobotic Manipulation”, in Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, October 2018.

Alexander Dietrich, Jörn Vogel, Annette Hagengruber, Daniel Leidner, Peter Schmaus, Nico Mansfeld, Julian Klodmann, Thomas Bahls, Michael Panzirsch, Lioba Suchenwirth, and Alin Albu-Schäffer, „Feinfühlige, interaktive Roboter in Krankenhaus und Pflege: Wo stehen wir und wohin geht die Reise?“, Zeitschrift für medizinische Ethik, 64 (4), Seiten 307-325. Schwabenverlag. ISSN 0944-7652, 2018.

Neal Yi-Sheng Lii, Cornelia Riecke, Daniel Leidner, Simon Schätzle, Peter Schmaus, Bernhard Weber, Thomas Krueger, Martin Stelzer, Armin Wedler, and Gerhard Grunwald, „The Robot as an Avatar or Co-worker? An Investigation of the Different Teleoperation Modalities through the KONTUR-2 and METERON SUPVIS Justin Space Telerobotic Missions”, In: Proceedings of the International Astronautical Congress, IAC. 69th International Astronautical Congress (IAC), Bremen, Germany, 1-5 Oct 2018, Bremen, Germany, 2018.

Daniel Leidner, Georg Bartels, Wissam Bejjani, Alin Albu-Schäffer, and Michael Beetz, “Cognition-enabled robotic wiping: Representation, planning, execution, and interpretation”, Robotics and Autonomous Systems. Elsevier. DOI: 10.1016/s0921889018303312 ISSN 0921-8890, 2018.

2017

Christian Ott, Maximo. A. Roa, Florian Schmidt, Werner Friedl, Johannes Englsberger, Robert Burger, Alexander Werner, Alexander Dietrich, Daniel Leidner, Bernd Henze, Oliver Eiberger, Alexander Beyer, Berthold Bäuml, Christoph Borst, and Alin Albu-Schäffer, “Mechanisms and Design of DLR Humanoid Robots”, in Humanoid Robotics: A Reference, pp. 1-26, Springer International Publishing, 2017.

Daniel Leidner, Peter Birkenkampf, and Neal Y. Lii, “Context-aware Mission Control for Astronaut-Robot Collaboration”, in Proc. of the 14th Symposium on Advanced Space Technologies for Robotics and Automation (ASTRA), 2017, Leiden, The Netherlands, June 2017.

Neal Y. Lii, Daniel Leidner, Peter Birkenkampf, Benedikt Pleintinger, Ralph Bayer, and Thomas Krueger, “Toward Scalable Intuitive Teleoperation of Robots for Space Deployment with the METERON SUPVIS Justin Experiment”, in Proc. of the 14th Symposiumon Advanced Space Technologies for Robotics and Automation (ASTRA), Leiden, The Netherlands, June 2017.

Peter Birkenkampf, Daniel Leidner, and Neal Y. Lii, “Ubiquitous User Interface Design for Space Robotic Operation”, in Proc. of the 14th Symposium on Advanced Space Technologies for Robotics and Automation (ASTRA), Leiden, The Netherlands, June 2017.

Alexander Dietrich, Xuwei Wu, Kristin Bussmann, Christian Ott, Alin Albu-Schäffer, and Stefano Stramigioli, “Passive Hierarchical Impedance Control via Energy Tanks”, IEEE Robotics and Automation Letters (RA-L), vol. 2, no. 2, pp. 522-529, April 2017.

2016

Daniel Leidner and Michael Beetz, “Inferring the Effects of Wiping Motions based on Haptic Perception”, in Proc. of the International Conference on Humanoid Robots (ICHR), Cancun, Mexico, November 2016. PDF

Alexander Dietrich, “Whole-Body Impedance Control of Wheeled Humanoid Robots”, volume 116 of Springer Tracts in Advanced Robotics, 978-3-319-40556-8, Springer International Publishing, 2016. Springer

Daniel Leidner, Wissam Bejjani, Alin Albu-Schäffer, and Michael Beetz, “Robotic Agents Representing, Reasoning, and Executing Wiping Tasks for Daily Household Chores”, in Proc. of the International Conference on Autonomous Agents and Multiagent Systems (AAMAS), Singapore, May 2016. PDF

Alexander Dietrich, Christian Ott, and Stefano Stramigioli, "Passivation of Projection-Based Null Space Compliance Control Via Energy Tanks", IEEE Robotics and Automation Letters (RA-L), vol. 1, no. 1, pp. 184-191, March 2016.

Daniel Leidner, Alexander Dietrich, Michael Beetz, and Alin Albu-Schäffer, "Knowledge-enabled parameterization of whole-body control strategies for compliant service robots", Autonomous Robots (AURO): Special Issue on Whole-Body Control of Contacts and Dynamics for Humanoid Robots, vol. 40, no. 3, pp. 519-536, March 2016.

Alexander Dietrich, Kristin Bussmann, Florian Petit, Paul Kotyczka, Christian Ott, Boris Lohmann, and Alin Albu-Schäffer, "Whole-body impedance control of wheeled mobile manipulators: Stability analysis and experiments on the humanoid robot Rollin' Justin", Autonomous Robots (AURO): Special Issue on Whole-Body Control of Contacts and Dynamics for Humanoid Robots, vol. 40, no. 3, pp. 505-517, March 2016.

2015

Daniel Leidner, Christoph Borst, Alexander Dietrich, and Alin Albu-Schäffer, “Classifying Compliant Manipulation Tasks for Automated Planning in Robotics”, in Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, October 2015.

Daniel Leidner, Selma Musić, and Armin Wedler, “Robotic Deployment of Extraterrestrial Seismic Networks”, in Proc. of the 13th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA), Noordwijk, The Netherlands, May 2015. [PDF]

Christian Ott, Alexander Dietrich, Daniel Leidner, Alexander Werner, Johannes Englsberger, Bernd Henze, Sebastian Wolf, Maxime Chalon, Werner Friedl, Alexander Beyer, Oliver Eiberger, and Alin Albu-Schäffer, "From Torque-Controlled to Intrinsically Compliant Humanoid Robots", ASME Dynamic Systems & Control Magazine, vol. 3, no. 2, pp. 7-11, June 2015.

Christian Ott, Alexander Dietrich, and Alin Albu-Schäffer, "Prioritized Multi-Task Compliance Control of Redundant Manipulators", Automatica, vol. 53, pp. 416-423, March 2015.

Daniel Leidner and Alexander Dietrich, "Towards Intelligent Compliant Service Robots", in Twenty-Ninth AAAI Conference on Artificial Intelligence, Austin, USA, January 2015. [Video]

2014

Peter Birkenkampf, Daniel Leidner, and Christoph Borst, "A Knowledge-Driven Shared Autonomy Human-Robot Interface for Tablet Computers", to be published in Proc. of the IEEE/RAS International Conference on Humanoid Robots, Madrid, Spain, November 2014, pp. 152-159. [PDF].

Thomas Wimböck, Monika Florek-Jasinska, and Christian Ott, "Humanoid Compliant Whole Arm Dexterous Manipulation: Control Design and Experiments", in Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, USA, September 2014. pp. 1616-1621.

Alexander Dietrich, Melanie Kimmel, Thomas Wimböck, Sandra Hirche, and Alin Albu-Schäffer, "Workspace Analysis for a Kinematically Coupled Torso of a Torque Controlled Humanoid Robot", in Proc. of the IEEE International Conference on Robotics and Automation, Hong Kong, China, June 2014, pp 3439-3445. [PDF]

Daniel Leidner, Alexander Dietrich, Florian Schmidt, Christoph Borst, and Alin Albu-Schäffer, "Object-Centered Hybrid Reasoning for Whole-Body Mobile Manipulation", in Proc. of the IEEE International Conference on Robotics and Automation, Hong Kong, China, June 2014. pp. 1828-1835. [PDF]

2013

Alexander Dietrich, Christian Ott, and Alin Albu-Schäffer, "Multi-Objective Compliance Control of Redundant Manipulators: Hierarchy, Control, and Stability", in Proc. of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan, November 2013, pp. 3043-3050. [PDF]

Daniel Leidner and Christoph Borst, “Hybrid Reasoning for Mobile Manipulation based on Object Knowledge”, in Workshop on AI-based Robotics at IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan, November 2013. [PDF]

2012

Alexander Dietrich, Thomas Wimböck, Alin Albu-Schäffer, and Gerd Hirzinger, "Integration of Reactive, Torque-Based Self-Collision Avoidance Into a Task Hierarchy", IEEE Transactions on Robotics, vol. 28, no. 6, pp. 1278-1293, December 2012. [PDF]

Daniel Leidner, Christoph Borst, and Gerd Hirzinger, “Things are made for what they are: Solving manipulation tasks by using functional object classes”, in Proc. of the IEEE/RAS International Conference on Humanoid Robots, Osaka, Japan, November 2012, pp. 429–435. [PDF]

Alexander Dietrich, Thomas Wimböck, Alin Albu-Schäffer, and Gerd Hirzinger, "Reactive Whole-Body Control: Dynamic Mobile Manipulation Using a Large Number of Actuated Degrees of Freedom", IEEE Robotics & Automation Magazine: Special Issue on Mobile Manipulation, vol. 19, no. 2, pp. 20-33, June 2012. [PDF]

Alexander Dietrich, Alin Albu-Schäffer, and Gerd Hirzinger, "On Continuous Null Space Projections for Torque-Based, Hierarchical, Multi-Objective Manipulation", in Proc. of the 2012 IEEE International Conference on Robotics and Automation, St. Paul, USA, May 2012, pp. 2978-2985. [PDF]

2011

Berthold Bäuml, Oliver Birbach, Thomas Wimböck, Udo Frese, Alexander Dietrich, and Gerd Hirzinger, "Catching Flying Balls with a Mobile Humanoid: System Overview and Design Considerations", in Proc. of the IEEE International Conference on Humanoid Robots, Bled, Slovenia, November 2011.

Alexander Dietrich, Thomas Wimböck, and Alin Albu-Schäffer, "Dynamic Whole-Body Mobile Manipulation with a Torque Controlled Humanoid Robot via Impedance Control Laws", in Proc. of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, USA, September 2011, pp. 3199-3206. [PDF]

Thomas Wimböck, B. Jahn, and Gerd Hirzinger, "Synergy Level Impedance Control for Multifingered Hands", in Proc. of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, USA, September 2011.

Alexander Dietrich, Thomas Wimböck, Alin Albu-Schäffer, and Gerd Hirzinger, "Singularity Avoidance for Nonholonomic, Omnidirectional Wheeled Mobile Platforms with Variable Footprint", in Proc. of the 2011 IEEE International Conference on Robotics and Automation, Shanghai, China, May 2011, pp. 6136-6142. [PDF]

Alexander Dietrich, Thomas Wimböck, Holger Täubig, Alin Albu-Schäffer, and Gerd Hirzinger, "Extensions to Reactive Self-Collision Avoidance for Torque and Position Controlled Humanoids", in Proc. of the 2011 IEEE International Conference on Robotics and Automation, Shanghai, China, May 2011, pp. 3455-3462. [PDF]

Franziska Zacharias, Christian Schlette, Florian Schmidt, Christoph Borst, Jürgen Rossmann, and Gerd Hirzinger, "Making planned paths look more human-like in humanoid robot manipulation planning", in Proc. of the IEEE International Conference on Robotics and Automation, Shanghai, China, May 2011, pp. 1192-1198.

Berthold Bäuml, Florian Schmidt, Thomas Wimböck, Oliver Birbach, Alexander Dietrich, Mathias Fuchs, Werner Friedl, Udo Frese, Christoph Borst, Markus Grebenstein, Oliver Eiberger, and Gerd Hirzinger, "Catching Flying Balls and Preparing Coffee: Humanoid Rollin'Justin Performs Dynamic and Sensitive Tasks", in Proc. of the IEEE International Conference on Robotics and Automation, Shanghai, China, May 2011.

2010

Franziska Zacharias, Ian S. Howard, Thomas Hulin, and Gerd Hirzinger, "Workspace comparisons of setup configurations for human-robot interaction", in Proc. of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan, October 2010, pp. 3117-3122.

Franziska Zacharias, Daniel Leidner, Florian Schmidt, Christoph Borst, and Gerd Hirzinger, "Exploiting structure in two-armed manipulation tasks for humanoid robots", in Proc. of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan, October 2010, pp. 5446-5452. [PDF]

Thomas Wimböck, Christoph Borst, Akin Albu-Schäffer, Christian Ott, Florian Schmidt, Mathias Fuchs, Werner Friedl, Oliver Eiberger, Andreas Baumann, Alexander Beyer, and Gerd Hirzinger. "DLRs zweihaendiger Humanoide Justin: Systementwurf, Integration und Regelung", in At-Automatisierungstechnik, 2010 .

Thomas Wimböck, Berthold Baeuml, Jeff Trinkle, and Gerd Hirzinger, "Experiments on Grasp Acquisition", in Workshop on Performance Evaluation and Benchmarking for Intelligent Robots and Systems with Cognitive and Autonomy Capabilities at IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan, October 2010

Thomas Wimböck, "Considerations of Grasp Dynamics", in Workshop on Grasp Acquisition: How to Realize Good Grasps at Robotic Science and Systems, Zaragoza, Spain, 2010

2009

Franziska Zacharias, Wolfgang Sepp, Christoph Borst, and Gerd Hirzinger, "Using a model of the reachable workspace to position mobile manipulators for 3-d trajectories", in Proc. of the IEEE/RAS International Conference on Humanoid Robots, Paris, France, Oktober 2009, pp. 55–61.

Thomas Wimböck, Dragomir Nenchev, Alin Albu-Schäffer, and Gerd Hirzinger, "Experimental Study on Dynamic Reactionless Motions with DLR’s Humanoid Robot Justin", in Proc. of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis, USA, 2009, pp. 5481-5486.

Alin Albu-Schäffer, Oliver Eiberger, Mathias Fuchs, Markus Grebenstein, Sami Haddadin, Christian Ott, Andreas Stemmer, Thomas Wimböck, Sebastian Wolf, and Gerd Hirzinger, "Anthropomorphic Soft Robotics - from Torque Control to Variable Intrinsic Compliance", in Proc. of the International Symposium on Robotics Research, Lucerne, Switzerland, 2009

Christoph Borst, Thomas Wimböck, Florian Schmidt, Mathias Fuchs, Bernhard Brunner, Franziska Zacharias, Paolo R. Giordano, Rainer Konietschke, Wolfgang Sepp, Stefan Fuchs, et al., “Rollin’justin-mobile platform with variable base,” in Proc. of the IEEE International Conference on Robotics and Automation, Kobe, Japan, May 2009, pp. 1597–1598.

Mathias Fuchs, Christoph Borst, Paolo R. Giordano, Andreas Baumann, Erich Kraemer, Jörg Langwald, Robin Gruber, Nikolaus Seitz, Georg Plank, Klaus Kunze, Robert Burger, Florian Schmidt, Thomas Wimböck, and Gerd Hirzinger, "Rollin' Justin - Design considerations and realization of a mobile platform for a humanoid upper body", in Proc. of the IEEE International Conference on Robotics and Automation, Kobe, Japan, May 2009

Phillip Kremer, Thomas Wimböck, Jordi Artigas, Simon Schätzle, Klaus Jöhl, Florian Schmidt, Carsten Preusche, and Gerd Hirzinger, "Multimodal telepresent control of DLR's Rollin' Justin", in Proc. of the IEEE International Conference on Robotics and Automation, Kobe, Japan, May 2009

2008

Alin Albu-Schäffer, Oliver Eiberger, Markus Grebenstein, Sami Haddadin, Christian Ott, Thomas Wimböck, Sebastian Wolf, and Gerd Hirzinger, "Soft Robotics: From torque feedback controlled light-weight robots to intrinsically compliant systems", Robotics and Automation Magazine: Special Issue on Adaptable Compliance / Variable Stiffness for Robotic Applications, Vol. 15, No. 3, 2008, pp. 20-30.

2007

Alin Albu-Schäffer, Sami Haddadin, Christian Ott, Andreas Stemmer, Thomas Wimböck, and Gerd Hirzinger, "The DLR Lightweight Robot - Lightweight Design and "Soft Robotics" Control Concepts for Robots in Human Environments", Industrial Robot Journal, Vol. 34, No. 5, 2007

Christoph Borst, Christian Ott, Thomas Wimböck, Bernhard Brunner, Franziska Zacharias, Berthold Bäuml, and Gerd Hirzinger, "A Humanoid Upper-Body System for Two-Handed Manipulation", in Proc. of the IEEE International Conference on Robotics and Automation, Roma, Italy, 2007

Thomas Wimböck, Christian Ott, and Gerd Hirzinger, "Impedance Behaviors for Two-handed Manipulation: Design and Experiments", in Proc. of the IEEE International Conference on Robotics and Automation, Roma, Italy, 2007

2006