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2012


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Model Learning and Real-Time Tracking Using Multi-Resolution Surfel Maps

Stueckler, J., Behnke, S.

Proceedings of the AAAI Conference on Artificial Intelligence (AAAI), 2012 (conference)

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link (url) [BibTex]

2012


link (url) [BibTex]


Development of a Minimalistic Pneumatic Quadruped Robot for Fast Locomotion
Development of a Minimalistic Pneumatic Quadruped Robot for Fast Locomotion

Narioka, K., Rosendo, A., Spröwitz, A., Hosoda, K.

In Proceedings of the 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2012, pages: 307-311, IEEE, Guangzhou, 2012 (inproceedings)

Abstract
In this paper, we describe the development of the quadruped robot ”Ken” with the minimalistic and lightweight body design for achieving fast locomotion. We use McKibben pneumatic artificial muscles as actuators, providing high frequency and wide stride motion of limbs, also avoiding problems with overheating. We conducted a preliminary experiment, finding out that the robot can swing its limb over 7.5 Hz without amplitude reduction, nor heat problems. Moreover, the robot realized a several steps of bouncing gait by using simple CPG-based open loop controller, indicating that the robot can generate enough torque to kick the ground and limb contraction to avoid stumbling.

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DOI [BibTex]

DOI [BibTex]


Locomotion through Reconfiguration based on Motor Primitives for Roombots Self-Reconfigurable Modular Robots
Locomotion through Reconfiguration based on Motor Primitives for Roombots Self-Reconfigurable Modular Robots

Bonardi, S., Moeckel, R., Spröwitz, A., Vespignani, M., Ijspeert, A. J.

In Robotics; Proceedings of ROBOTIK 2012; 7th German Conference on, pages: 1-6, 2012 (inproceedings)

Abstract
We present the hardware and reconfiguration experiments for an autonomous self-reconfigurable modular robot called Roombots (RB). RB were designed to form the basis for self-reconfigurable furniture. Each RB module contains three degrees of freedom that have been carefully selected to allow a single module to reach any position on a 2-dimensional grid and to overcome concave corners in a 3-dimensional grid. For the first time we demonstrate locomotion capabilities of single RB modules through reconfiguration with real hardware. The locomotion through reconfiguration is controlled by a planner combining the well-known D* algorithm and composed motor primitives. The novelty of our approach is the use of an online running hierarchical planner closely linked to the real hardware.

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link (url) [BibTex]

link (url) [BibTex]


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Towards Robust Mobility, Flexible Object Manipulation, and Intuitive Multimodal Interaction for Domestic Service Robots

Stueckler, J., Droeschel, D., Gräve, K., Holz, D., Kläß, J., Schreiber, M., Steffens, R., Behnke, S.

In RoboCup 2011, Robot Soccer World Cup XV, pages: 51-62, Springer, 2012 (inbook)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Bayesian calibration of the hand-eye kinematics of an anthropomorphic robot

Hubert, U., Stueckler, J., Behnke, S.

In Proc. of the 12th IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids), pages: 618-624, November 2012 (inproceedings)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Shape-Primitive Based Object Recognition and Grasping

Nieuwenhuisen, M., Stueckler, J., Berner, A., Klein, R., Behnke, S.

In Proc. of ROBOTIK, VDE-Verlag, 2012 (inproceedings)

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link (url) [BibTex]

link (url) [BibTex]


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Semantic mapping using object-class segmentation of RGB-D images

Stueckler, J., Biresev, N., Behnke, S.

In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pages: 3005-3010, October 2012 (inproceedings)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Efficient Mobile Robot Navigation using 3D Surfel Grid Maps

Kläß, J., Stueckler, J., Behnke, S.

In Proc. of ROBOTIK, VDE-Verlag, 2012 (inproceedings)

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link (url) [BibTex]

link (url) [BibTex]


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Integrating depth and color cues for dense multi-resolution scene mapping using RGB-D cameras

Stueckler, J., Behnke, S.

In Proc. of the IEEE Int. Conf. on Multisensor Fusion and Integration for Intelligent Systems (MFI), pages: 162-167, sep 2012 (inproceedings)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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SURE: Surface Entropy for Distinctive 3D Features

Fiolka, T., Stueckler, J., Klein, D. A., Schulz, D., Behnke, S.

In Proc. of Spatial Cognition, 2012 (inproceedings)

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link (url) [BibTex]

link (url) [BibTex]


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Robust Real-Time Registration of RGB-D Images using Multi-Resolution Surfel Representations

Stueckler, J., Behnke, S.

In Proc. of ROBOTIK, VDE-Verlag, 2012 (inproceedings)

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link (url) [BibTex]

link (url) [BibTex]


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Adjustable autonomy for mobile teleoperation of personal service robots

Muszynski, S., Stueckler, J., Behnke, S.

In Proc. of the IEEE Int. Symp. on Robot and Human Interactive Communication, pages: 933-940, sep 2012 (inproceedings)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Adaptive Multi-cue 3D Tracking of Arbitrary Objects

Garcia, G. M., Klein, D. A., Stueckler, J., Frintrop, S., Cremers, A. B.

In DAGM/OAGM Symposium, 7476, pages: 357-366, Lecture Notes in Computer Science, Springer, 2012 (inproceedings)

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[BibTex]

[BibTex]

2009


Roombots-mechanical design of self-reconfiguring modular robots for adaptive furniture
Roombots-mechanical design of self-reconfiguring modular robots for adaptive furniture

Spröwitz, A., Billard, A., Dillenbourg, P., Ijspeert, A. J.

In Proceedings of the 2009 IEEE International Conference on Robotics and Automation (ICRA), pages: 4259-4264, IEEE, Kobe, 2009 (inproceedings)

Abstract
We aim at merging technologies from information technology, roomware, and robotics in order to design adaptive and intelligent furniture. This paper presents design principles for our modular robots, called Roombots, as future building blocks for furniture that moves and self-reconfigures. The reconfiguration is done using dynamic connection and disconnection of modules and rotations of the degrees of freedom. We are furthermore interested in applying Roombots towards adaptive behaviour, such as online learning of locomotion patterns. To create coordinated and efficient gait patterns, we use a Central Pattern Generator (CPG) approach, which can easily be optimized by any gradient-free optimization algorithm. To provide a hardware framework we present the mechanical design of the Roombots modules and an active connection mechanism based on physical latches. Further we discuss the application of our Roombots modules as pieces of a homogenic or heterogenic mix of building blocks for static structures.

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DOI [BibTex]

2009


DOI [BibTex]


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Integrating indoor mobility, object manipulation, and intuitive interaction for domestic service tasks

Stueckler, J., Behnke, S.

In Proc. of the IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids), pages: 506-513, December 2009 (inproceedings)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Dynamaid, an Anthropomorphic Robot for Research on Domestic Service Applications

Stueckler, J., Schreiber, M., Behnke, S.

In Proc. of the European Conference on Mobile Robots (ECMR), pages: 87-92, 2009 (inproceedings)

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link (url) [BibTex]

link (url) [BibTex]

2007


An easy to use bluetooth scatternet protocol for fast data exchange in wireless sensor networks and autonomous robots
An easy to use bluetooth scatternet protocol for fast data exchange in wireless sensor networks and autonomous robots

Mockel, R., Spröwitz, A., Maye, J., Ijspeert, A. J.

In Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, pages: 2801-2806, IEEE, San Diego, CA, 2007 (inproceedings)

Abstract
We present a Bluetooth scatternet protocol (SNP) that provides the user with a serial link to all connected members in a transparent wireless Bluetooth network. By using only local decision making we can reduce the overhead of our scatternet protocol dramatically. We show how our SNP software layer simplifies a variety of tasks like the synchronization of central pattern generator controllers for actuators, collecting sensory data and building modular robot structures. The whole Bluetooth software stack including our new scatternet layer is implemented on a single Bluetooth and memory chip. To verify and characterize the SNP we provide data from experiments using real hardware instead of software simulation. This gives a realistic overview of the scatternet performance showing higher order effects that are difficult to be simulated correctly and guaranties the correct function of the SNP in real world applications.

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DOI [BibTex]

2007


DOI [BibTex]


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Hierarchical reactive control for a team of humanoid soccer robots

Behnke, S., Stueckler, J., Schreiber, M., Schulz, H., Böhnert, M., Meier, K.

In Proc. of the IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids), pages: 622-629, November 2007 (inproceedings)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]

2006


Project course "Design of Mechatronic Systems"
Project course "Design of Mechatronic Systems"

Koch, C., Spröwitz, A., Radler, O., Strohla, T.

In IEEE International Conference on Mechatronics, pages: 69-72, IEEE, Budapest, 2006 (inproceedings)

Abstract
The course "Design of Mechatronic Systems" at Technische Universität Ilmenau imparts the systematic procedure of mechatronic design. This paper shows the main features of VDI Guideline 2206, which provides the structured background for students education in mechatronics. Furthermore practical teaching experiences and results from the course are described.

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DOI [BibTex]

2006


DOI [BibTex]


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See, walk, and kick: Humanoid robots start to play soccer

Behnke, S., Schreiber, M., Stueckler, J., Renner, R., Strasdat, H.

In Proc. of the IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids), pages: 497-503, December 2006 (inproceedings)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]