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27 results (View BibTeX file of all listed publications)

2018

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Direct Sparse Odometry With Rolling Shutter

Schubert, D., Usenko, V., Demmel, N., Stueckler, J., Cremers, D.

European Conference on Computer Vision (ECCV), September 2018, accepted as oral presentation (conference)

ev

[BibTex]

2018

ev Schubert, D., Usenko, V., Demmel, N., Stueckler, J., Cremers, D. Direct Sparse Odometry With Rolling Shutter European Conference on Computer Vision (ECCV), September 2018, accepted as oral presentation (conference)

[BibTex]

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Deep Virtual Stereo Odometry: Leveraging Deep Depth Prediction for Monocular Direct Sparse Odometry

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

European Conference on Computer Vision (ECCV), September 2018, accepted as oral presentation, arXiv 1807.02570 (conference)

ev

link (url) [BibTex]

ev Yang, N., Wang, R., Stueckler, J., Cremers, D. Deep Virtual Stereo Odometry: Leveraging Deep Depth Prediction for Monocular Direct Sparse Odometry European Conference on Computer Vision (ECCV), September 2018, accepted as oral presentation, arXiv 1807.02570 (conference)

link (url) [BibTex]

Thumb xl screen shot 2018 03 22 at 10.40.47 am
Oncilla robot: a versatile open-source quadruped research robot with compliant pantograph legs

Sproewitz, A., Tuleu, A., Ajallooeian, M., Vespignani, M., Moeckel, R., Eckert, P., D’Haene, M., Degrave, J., Nordmann, A., Schrauwen, B., Steil, J., Ijspeert, A. J.

Frontiers in Robotics and AI, 5(67), June 2018, arXiv: 1803.06259 (article)

Abstract
We present Oncilla robot, a novel mobile, quadruped legged locomotion machine. This large-cat sized, 5.1 robot is one of a kind of a recent, bioinspired legged robot class designed with the capability of model-free locomotion control. Animal legged locomotion in rough terrain is clearly shaped by sensor feedback systems. Results with Oncilla robot show that agile and versatile locomotion is possible without sensory signals to some extend, and tracking becomes robust when feedback control is added (Ajaoolleian 2015). By incorporating mechanical and control blueprints inspired from animals, and by observing the resulting robot locomotion characteristics, we aim to understand the contribution of individual components. Legged robots have a wide mechanical and control design parameter space, and a unique potential as research tools to investigate principles of biomechanics and legged locomotion control. But the hardware and controller design can be a steep initial hurdle for academic research. To facilitate the easy start and development of legged robots, Oncilla-robot's blueprints are available through open-source. [...]

dlg

link (url) DOI Project Page [BibTex]

dlg Sproewitz, A., Tuleu, A., Ajallooeian, M., Vespignani, M., Moeckel, R., Eckert, P., D’Haene, M., Degrave, J., Nordmann, A., Schrauwen, B., Steil, J., Ijspeert, A. J. Oncilla robot: a versatile open-source quadruped research robot with compliant pantograph legs Frontiers in Robotics and AI, 5(67), June 2018, arXiv: 1803.06259 (article)

link (url) DOI Project Page [BibTex]

Thumb xl screen shot 2018 04 18 at 11.01.27 am
Learning from Outside the Viability Kernel: Why we Should Build Robots that can Fail with Grace

Heim, S., Sproewitz, A.

Proceedings of SIMPAR 2018, pages: 55-61, IEEE, 2018 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), May 2018 (conference)

dlg

link (url) DOI Project Page [BibTex]

dlg Heim, S., Sproewitz, A. Learning from Outside the Viability Kernel: Why we Should Build Robots that can Fail with Grace Proceedings of SIMPAR 2018, pages: 55-61, IEEE, 2018 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), May 2018 (conference)

link (url) DOI Project Page [BibTex]

Thumb xl screen shot 2018 02 03 at 9.09.06 am
Shaping in Practice: Training Wheels to Learn Fast Hopping Directly in Hardware

Heim, S., Ruppert, F., Sarvestani, A., Sproewitz, A.

In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2018, pages: 5076-5081, IEEE, International Conference on Robotics and Automation, May 2018 (inproceedings)

Abstract
Learning instead of designing robot controllers can greatly reduce engineering effort required, while also emphasizing robustness. Despite considerable progress in simulation, applying learning directly in hardware is still challenging, in part due to the necessity to explore potentially unstable parameters. We explore the of concept shaping the reward landscape with training wheels; temporary modifications of the physical hardware that facilitate learning. We demonstrate the concept with a robot leg mounted on a boom learning to hop fast. This proof of concept embodies typical challenges such as instability and contact, while being simple enough to empirically map out and visualize the reward landscape. Based on our results we propose three criteria for designing effective training wheels for learning in robotics.

dlg

Video Youtube link (url) Project Page [BibTex]

dlg Heim, S., Ruppert, F., Sarvestani, A., Sproewitz, A. Shaping in Practice: Training Wheels to Learn Fast Hopping Directly in Hardware In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2018, pages: 5076-5081, IEEE, International Conference on Robotics and Automation, May 2018 (inproceedings)

Video Youtube link (url) Project Page [BibTex]

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The TUM VI Benchmark for Evaluating Visual-Inertial Odometry

Schubert, D., Goll, T., Demmel, N., Usenko, V., Stueckler, J., Cremers, D.

In IEEE International Conference on Intelligent Robots and Systems (IROS), 2018, arXiv:1804.06120 (inproceedings)

ev

[BibTex]

ev Schubert, D., Goll, T., Demmel, N., Usenko, V., Stueckler, J., Cremers, D. The TUM VI Benchmark for Evaluating Visual-Inertial Odometry In IEEE International Conference on Intelligent Robots and Systems (IROS), 2018, arXiv:1804.06120 (inproceedings)

[BibTex]

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Variational Network Quantization

Achterhold, J., Koehler, J. M., Schmeink, A., Genewein, T.

In International Conference on Learning Representations , 2018 (inproceedings)

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link (url) [BibTex]

ev Achterhold, J., Koehler, J. M., Schmeink, A., Genewein, T. Variational Network Quantization In International Conference on Learning Representations , 2018 (inproceedings)

link (url) [BibTex]

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Numerical Quadrature for Probabilistic Policy Search

Vinogradska, J., Bischoff, B., Achterhold, J., Koller, T., Peters, J.

IEEE Transactions on Pattern Analysis and Machine Intelligence, pages: 1-1, 2018 (article)

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DOI [BibTex]

ev Vinogradska, J., Bischoff, B., Achterhold, J., Koller, T., Peters, J. Numerical Quadrature for Probabilistic Policy Search IEEE Transactions on Pattern Analysis and Machine Intelligence, pages: 1-1, 2018 (article)

DOI [BibTex]

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Omnidirectional DSO: Direct Sparse Odometry with Fisheye Cameras

Matsuki, H., von Stumberg, L., Usenko, V., Stueckler, J., Cremers, D.

IEEE Robotics and Automation Letters (RA-L) & Int. Conference on Intelligent Robots and Systems (IROS), Robotics and Automation Letters (RA-L), IEEE, 2018 (article)

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[BibTex]

ev Matsuki, H., von Stumberg, L., Usenko, V., Stueckler, J., Cremers, D. Omnidirectional DSO: Direct Sparse Odometry with Fisheye Cameras IEEE Robotics and Automation Letters (RA-L) & Int. Conference on Intelligent Robots and Systems (IROS), Robotics and Automation Letters (RA-L), IEEE, 2018 (article)

[BibTex]

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Light field intrinsics with a deep encoder-decoder network

Alperovich, A., Johannsen, O., Strecke, M., Goldluecke, B.

In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2018 (inproceedings)

ev

link (url) [BibTex]

ev Alperovich, A., Johannsen, O., Strecke, M., Goldluecke, B. Light field intrinsics with a deep encoder-decoder network In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2018 (inproceedings)

link (url) [BibTex]

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Sublabel-accurate convex relaxation with total generalized variation regularization

(DAGM Best Master's Thesis Award)

Strecke, M., Goldluecke, B.

In German Conference on Pattern Recognition (Proc. GCPR), 2018 (inproceedings)

ev

link (url) [BibTex]

ev Strecke, M., Goldluecke, B. Sublabel-accurate convex relaxation with total generalized variation regularization In German Conference on Pattern Recognition (Proc. GCPR), 2018 (inproceedings)

link (url) [BibTex]

2010

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Graph signature for self-reconfiguration planning of modules with symmetry

Asadpour, M., Ashtiani, M. H. Z., Spröwitz, A., Ijspeert, A. J.

In Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, pages: 5295-5300, IEEE, St. Louis, MO, 2010 (inproceedings)

Abstract
In our previous works we had developed a framework for self-reconfiguration planning based on graph signature and graph edit-distance. The graph signature is a fast isomorphism test between different configurations and the graph edit-distance is a similarity metric. But the algorithm is not suitable for modules with symmetry. In this paper we improve the algorithm in order to deal with symmetric modules. Also, we present a new heuristic function to guide the search strategy by penalizing the solutions with more number of actions. The simulation results show the new algorithm not only deals with symmetric modules successfully but also finds better solutions in a shorter time.

dlg

DOI [BibTex]

2010

dlg Asadpour, M., Ashtiani, M. H. Z., Spröwitz, A., Ijspeert, A. J. Graph signature for self-reconfiguration planning of modules with symmetry In Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, pages: 5295-5300, IEEE, St. Louis, MO, 2010 (inproceedings)

DOI [BibTex]

Thumb xl screen shot 2018 02 03 at 11.59.15 am
Roombots - Towards decentralized reconfiguration with self-reconfiguring modular robotic metamodules

Spröwitz, A., Laprade, P., Bonardi, S., Mayer, M., Moeckel, R., Mudry, P., Ijspeert, A. J.

In Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages: 1126-1132, IEEE, Taipeh, 2010 (inproceedings)

Abstract
This paper presents our work towards a decentralized reconfiguration strategy for self-reconfiguring modular robots, assembling furniture-like structures from Roombots (RB) metamodules. We explore how reconfiguration by loco- motion from a configuration A to a configuration B can be controlled in a distributed fashion. This is done using Roombots metamodules—two Roombots modules connected serially—that use broadcast signals, lookup tables of their movement space, assumptions about their neighborhood, and connections to a structured surface to collectively build desired structures without the need of a centralized planner.

dlg

DOI [BibTex]

dlg Spröwitz, A., Laprade, P., Bonardi, S., Mayer, M., Moeckel, R., Mudry, P., Ijspeert, A. J. Roombots - Towards decentralized reconfiguration with self-reconfiguring modular robotic metamodules In Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages: 1126-1132, IEEE, Taipeh, 2010 (inproceedings)

DOI [BibTex]

Thumb xl screen shot 2018 02 03 at 7.21.10 pm
Roombots: Reconfigurable Robots for Adaptive Furniture

Spröwitz, A., Pouya, S., Bonardi, S., van den Kieboom, J., Möckel, R., Billard, A., Dillenbourg, P., Ijspeert, A.

Computational Intelligence Magazine, IEEE, 5(3):20-32, 2010 (article)

Abstract
Imagine a world in which our furniture moves around like legged robots, interacts with us, and changes shape and function during the day according to our needs. This is the long term vision we have in the Roombots project. To work towards this dream, we are developing modular robotic modules that have rotational degrees of freedom for locomotion as well as active connection mechanisms for runtime reconfiguration. A piece of furniture, e.g. a stool, will thus be composed of several modules that activate their rotational joints together to implement locomotor gaits, and will be able to change shape, e.g. transforming into a chair, by sequences of attachments and detachments of modules. In this article, we firstly present the project and the hardware we are currently developing. We explore how reconfiguration from a configuration A to a configuration B can be controlled in a distributed fashion. This is done using metamodules-two Roombots modules connected serially-that use broadcast signals and connections to a structured ground to collectively build desired structures without the need of a centralized planner. We then present how locomotion controllers can be implemented in a distributed system of coupled oscillators-one per degree of freedom-similarly to the concept of central pattern generators (CPGs) found in the spinal cord of vertebrate animals. The CPGs are based on coupled phase oscillators to ensure synchronized behavior and have different output filters to allow switching between oscillations and rotations. A stochastic optimization algorithm is used to explore optimal CPG configurations for different simulated Roombots structures.

dlg

DOI [BibTex]

dlg Spröwitz, A., Pouya, S., Bonardi, S., van den Kieboom, J., Möckel, R., Billard, A., Dillenbourg, P., Ijspeert, A. Roombots: Reconfigurable Robots for Adaptive Furniture Computational Intelligence Magazine, IEEE, 5(3):20-32, 2010 (article)

DOI [BibTex]

Thumb xl screen shot 2018 02 03 at 4.38.20 pm
Automatic Gait Generation in Modular Robots: to Oscillate or to Rotate? that is the question

Pouya, S., van den Kieboom, J., Spröwitz, A., Ijspeert, A. J.

In Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages: 514-520, IEEE, Taipei, 2010 (inproceedings)

Abstract
Modular robots offer the possibility to design robots with a high diversity of shapes and functionalities. This nice feature also brings an important challenge: namely how to design efficient locomotion gaits for arbitrary robot structures with many degrees of freedom. In this paper, we present a framework that allows one to explore and identify highly different gaits for a given arbitrary- shaped modular robot. We use simulated robots made of several Roombots modules that have three rotational joints each. These modules have the interesting feature that they can produce both oscillatory movements (i.e. periodic movements around a rest position) and rotational movements (i.e. with continuously increasing angle), leading to very rich locomotion patterns. Here we ask ourselves which types of movements —purely oscillatory, purely rotational, or a combination of both— lead to the fastest gaits. To address this question we designed a control architecture based on a distributed system of coupled phase oscillators that can produce synchronized rotations and oscillations in many degrees of freedom. We also designed a specific optimization algorithm that can automatically design hybrid controllers, i.e. controllers that use oscillations in some joints and rotations in others, for fast gaits. The proposed framework is verified by multiple simulations for several robot morphologies. The results show that (i) the question whether it is better to oscillate or to rotate depends on the morphology of the robot, and that in general it is best to do both, (ii) the optimization framework can successfully generate hybrid controllers that outperform purely oscillatory and purely rotational ones, and (iii) the resulting gaits are fast, innovative, and would have been hard to design by hand.

dlg

DOI [BibTex]

dlg Pouya, S., van den Kieboom, J., Spröwitz, A., Ijspeert, A. J. Automatic Gait Generation in Modular Robots: to Oscillate or to Rotate? that is the question In Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages: 514-520, IEEE, Taipei, 2010 (inproceedings)

DOI [BibTex]

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Combining depth and color cues for scale- and viewpoint-invariant object segmentation and recognition using Random Forests

Stueckler, J., Behnke, S.

In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pages: 4566-4571, October 2010 (inproceedings)

ev

link (url) DOI [BibTex]

ev Stueckler, J., Behnke, S. Combining depth and color cues for scale- and viewpoint-invariant object segmentation and recognition using Random Forests In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pages: 4566-4571, October 2010 (inproceedings)

link (url) DOI [BibTex]

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Intuitive Multimodal Interaction for Domestic Service Robots

Nieuwenhuisen, M., Stueckler, J., Behnke, S.

In Proc. of the ISR/ROBOTIK, VDE Verlag, 2010 (inproceedings)

ev

link (url) [BibTex]

ev Nieuwenhuisen, M., Stueckler, J., Behnke, S. Intuitive Multimodal Interaction for Domestic Service Robots In Proc. of the ISR/ROBOTIK, VDE Verlag, 2010 (inproceedings)

link (url) [BibTex]

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Improving People Awareness of Service Robots by Semantic Scene Knowledge

Stueckler, J., Behnke, S.

In RobuCup, 6556, pages: 157-168, Lecture Notes in Computer Science, Springer, 2010 (inproceedings)

ev

link (url) [BibTex]

ev Stueckler, J., Behnke, S. Improving People Awareness of Service Robots by Semantic Scene Knowledge In RobuCup, 6556, pages: 157-168, Lecture Notes in Computer Science, Springer, 2010 (inproceedings)

link (url) [BibTex]

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Towards Semantic Scene Analysis with Time-of-flight Cameras

Holz, D., Schnabel, R., Droeschel, D., Stueckler, J., Behnke, S.

In RobuCup, 6556, pages: 121-132, Lecture Notes in Computer Science, Springer, 2010 (inproceedings)

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link (url) [BibTex]

ev Holz, D., Schnabel, R., Droeschel, D., Stueckler, J., Behnke, S. Towards Semantic Scene Analysis with Time-of-flight Cameras In RobuCup, 6556, pages: 121-132, Lecture Notes in Computer Science, Springer, 2010 (inproceedings)

link (url) [BibTex]

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Utilizing the Structure of Field Lines for Efficient Soccer Robot Localization

Schulz, H., Liu, W., Stueckler, J., Behnke, S.

In RobuCup, 6556, pages: 397-408, Lecture Notes in Computer Science, Springer, 2010 (inproceedings)

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link (url) [BibTex]

ev Schulz, H., Liu, W., Stueckler, J., Behnke, S. Utilizing the Structure of Field Lines for Efficient Soccer Robot Localization In RobuCup, 6556, pages: 397-408, Lecture Notes in Computer Science, Springer, 2010 (inproceedings)

link (url) [BibTex]

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Improving indoor navigation of autonomous robots by an explicit representation of doors

Nieuwenhuisen, M., Stueckler, J., Behnke, S.

In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), pages: 4895-4901, May 2010 (inproceedings)

ev

link (url) DOI [BibTex]

ev Nieuwenhuisen, M., Stueckler, J., Behnke, S. Improving indoor navigation of autonomous robots by an explicit representation of doors In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), pages: 4895-4901, May 2010 (inproceedings)

link (url) DOI [BibTex]

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Improving imitated grasping motions through interactive expected deviation learning

Gräve, K., Stueckler, J., Behnke, S.

In Proc. of the 10th IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids), pages: 397-404, December 2010 (inproceedings)

ev

link (url) DOI [BibTex]

ev Gräve, K., Stueckler, J., Behnke, S. Improving imitated grasping motions through interactive expected deviation learning In Proc. of the 10th IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids), pages: 397-404, December 2010 (inproceedings)

link (url) DOI [BibTex]

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Learning Motion Skills from Expert Demonstrations and Own Experience using Gaussian Process Regression

Gräve, K., Stueckler, J., Behnke, S.

In Proc. of the ISR/ROBOTIK, pages: 1-8, VDE Verlag, 2010 (inproceedings)

ev

link (url) [BibTex]

ev Gräve, K., Stueckler, J., Behnke, S. Learning Motion Skills from Expert Demonstrations and Own Experience using Gaussian Process Regression In Proc. of the ISR/ROBOTIK, pages: 1-8, VDE Verlag, 2010 (inproceedings)

link (url) [BibTex]

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Using Time-of-Flight cameras with active gaze control for 3D collision avoidance

Droeschel, D., Holz, D., Stueckler, J., Behnke, S.

In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), pages: 4035-4040, May 2010 (inproceedings)

ev

link (url) [BibTex]

ev Droeschel, D., Holz, D., Stueckler, J., Behnke, S. Using Time-of-Flight cameras with active gaze control for 3D collision avoidance In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), pages: 4035-4040, May 2010 (inproceedings)

link (url) [BibTex]

2007

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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.

dlg

DOI [BibTex]

2007

dlg Mockel, R., Spröwitz, A., Maye, J., Ijspeert, A. J. An easy to use bluetooth scatternet protocol for fast data exchange in wireless sensor networks and autonomous robots In Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, pages: 2801-2806, IEEE, San Diego, CA, 2007 (inproceedings)

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)

ev

link (url) DOI [BibTex]

ev Behnke, S., Stueckler, J., Schreiber, M., Schulz, H., Böhnert, M., Meier, K. Hierarchical reactive control for a team of humanoid soccer robots In Proc. of the IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids), pages: 622-629, November 2007 (inproceedings)

link (url) DOI [BibTex]

2004

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Simple and low-cost compliant leg-foot system

Meyer, F., Spröwitz, A., Lungarella, M., Berthouze, L.

In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2004), 1, pages: 515-520, IEEE, Sendai, Japan, 2004 (inproceedings)

Abstract
We present the design of a simple and low- cost humanoid leg-foot system featuring compliant joints and springy feet. The mechanical compliance of the individual joints can be adjusted by means of visco-elastic material, or metal. To explore some of the relevant characteristics of the proposed system, we performed a series of experiments in which the leg was dropped from a fixed height. Combinations of different materials in the joints (silicone rubber, latex, and brass) as well as a rigid or a compliant foot were used. Additional data were obtained through of a Lagrangian analysis of the leg-foot system. Our analyses show that compliant joints not only reduce impactive forces, but also induce smoother joint trajectories. Further, by employing a compliant foot, a higher energy efficiency for the movement is achieved.

dlg

DOI [BibTex]

2004

dlg Meyer, F., Spröwitz, A., Lungarella, M., Berthouze, L. Simple and low-cost compliant leg-foot system In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2004), 1, pages: 515-520, IEEE, Sendai, Japan, 2004 (inproceedings)

DOI [BibTex]