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2020


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Where Does It End? - Reasoning About Hidden Surfaces by Object Intersection Constraints

Strecke, M., Stückler, J.

In Proceedings IEEE/CVF Conf. on Computer Vision and Pattern Recognition (CVPR), IEEE/CVF International Conference on Computer Vision and Pattern Recognition (CVPR) 2020, June 2020 (inproceedings)

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preprint project page [BibTex]

2020


preprint project page [BibTex]


Acoustofluidic Tweezers for the 3D Manipulation of Microparticles
Acoustofluidic Tweezers for the 3D Manipulation of Microparticles

Guo, X., Ma, Z., Goyal, R., Jeong, M., Pang, W., Fischer, P., Dian, X., Qiu, T.

In 2020 IEEE International Conference on Robotics and Automation (ICRA),, Febuary 2020 (conference)

Abstract
Non-contact manipulation is of great importance in the actuation of micro-robotics. It is challenging to contactless manipulate micro-scale objects over large spatial distance in fluid. Here, we describe a novel approach for the dynamic position control of microparticles in three-dimensional (3D) space, based on high-speed acoustic streaming generated by a micro-fabricated gigahertz transducer. Due to the vertical lifting force and the horizontal centripetal force generated by the streaming, microparticles are able to be stably trapped at a position far away from the transducer surface, and to be manipulated over centimeter distance in all three directions. Only the hydrodynamic force is utilized in the system for particle manipulation, making it a versatile tool regardless the material properties of the trapped particle. The system shows high reliability and manipulation velocity, revealing its potentials for the applications in robotics and automation at small scales.

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[BibTex]

[BibTex]


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TUM Flyers: Vision-Based MAV Navigation for Systematic Inspection of Structures

Usenko, V., Stumberg, L. V., Stückler, J., Cremers, D.

In Bringing Innovative Robotic Technologies from Research Labs to Industrial End-users: The Experience of the European Robotics Challenges, 136, pages: 189-209, Springer International Publishing, 2020 (inbook)

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[BibTex]

[BibTex]


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Planning from Images with Deep Latent Gaussian Process Dynamics

Bosch, N., Achterhold, J., Leal-Taixe, L., Stückler, J.

Proceedings of the 2nd Conference on Learning for Dynamics and Control (L4DC), 120, pages: 640-650, Proceedings of Machine Learning Research (PMLR), (Editors: Alexandre M. Bayen and Ali Jadbabaie and George Pappas and Pablo A. Parrilo and Benjamin Recht and Claire Tomlin and Melanie Zeilinger), 2020, arXiv:2005.03770 (conference)

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preprint project page poster [BibTex]

preprint project page poster [BibTex]


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DirectShape: Photometric Alignment of Shape Priors for Visual Vehicle Pose and Shape Estimation

Wang, R., Yang, N., Stückler, J., Cremers, D.

In Accepted for IEEE international Conference on Robotics and Automation (ICRA), 2020, arXiv:1904.10097 (inproceedings) Accepted

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[BibTex]

[BibTex]

2009


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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]

2009


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


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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]

2007


link (url) DOI [BibTex]

2006


NONLINEAR OPTICAL PROPERTIES OF CHIRAL LIQUIDS Electric-dipolar pseudoscalars in nonlinear optics
NONLINEAR OPTICAL PROPERTIES OF CHIRAL LIQUIDS Electric-dipolar pseudoscalars in nonlinear optics

Fischer, P., Champagne, B.

In NON-LINEAR OPTICAL PROPERTIES OF MATTER: FROM MOLECULES TO CONDENSED PHASES, 1, pages: 359-381, Challenges and Advances in Computational Chemistry and Physics, 2006 (incollection)

Abstract
We give all overview of linear and nonlinear optical processes that can be specific to chiral molecules in isotropic media. Specifically, we discuss the pseudoscalars that underlie nonlinear optical activity and chiral frequency conversion processes in fluids. We show that nonlinear optical techniques open entirely new ways of exploring chirality: Sum-frequency-generation (SFG) at second-order and BioCARS at fourth-order arise in the electric-dipole approximation and do not require circularly polarized light to detect chiral molecules in solution. Here the frequency conversion in itself is a measure of chirality. This is in contrast to natural optical activity phenomena which are based on the interference of radiation from induced oscillating electric and magnetic dipoles, and which are observed as a differential response to right and left circularly polarized light. We give examples from our SFG experiments in optically active solutions and show how the application of an additional static electric field to sum-frequency generation allows the absolute configuration of the chiral solute to be determined via all electric-dipolar process. Results from ab initio calculations of the SFG pseudoscalar are presented for a number of chiral molecules

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[BibTex]

2006


[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]