Publications

 

2019

Tobias Klamt, Diego Rodriguez, Lorenzo Baccelliere, Xi Chen, Domenico Chiaradia, Torben Cichon, Massimiliano Gabardi, Paolo Guria, Karl Holmquist, Malgorzata Kamedula, Hakan Karaoguz, Navvab Kashiri, Arturo Laurenzi, Christian Lenz, Daniele Leonardis, Enrico Mingo, Luca Muratore, Dmytro Pavlichenko, Francesco Porcini, Zeyu Ren, Fabian Schilling, Max Schwarz, Massimiliano Solazzi, Michael Felsberg, Antonio Frisoli, Michael Gustmann, Patric Jensfelt, Klas Nordberg, Juergen Rossmann, Uwe Suess, Nikos Tsagarakis, and Sven Behnke:
Flexible Disaster Response of Tomorrow - Final Presentation and Evaluation of the CENTAURO System
IEEE Robotics and Automation Magazine, Special Issue on Humanoid Robot Applications in Real World Scenarios, 26(4):59-72, December 2019.

Download : RAM_2019_Centauro.mp4

 

Tobias Klamt, Max Schwarz, Christian Lenz, Lorenzo Baccelliere, Domenico Buongiorno, Torben Cichon, Antonio DiGuardo, David Droeschel, Massimiliano Gabardi, Malgorzata Kamedula, Navvab Kashiri, Arturo Laurenzi, Daniele Leonardis, Luca Muratore, Dmytro Pavlichenko, Arul S. Periyasamy, Diego Rodriguez, Massimiliano Solazzi, Antonio Frisoli, Michael Gustmann, Jürgen Roßmann, Uwe Süss, Nikos G. Tsagarakis, and Sven Behnke:
Remote mobile manipulation with the Centauro robot: Full‐body telepresence and autonomous operator assistance
Journal of Field Robotics (JFR) 37(5):889-919, Wiley, August 2020.

 

Download : JFR_2019_Klamt_CENTAURO.mp4

2018

Michele Barsotti, Fabio Stroppa, Nicola Mastronicola, Simone Marcheschi, Antonio Frisoli:
"Teleoperated Bilateral-Arm Rehabilitation with ALEx Rehab Station",
International Conference on NeuroRehabilitation (ICNR), 2018

Mine Sarac, Daniele Leonardis, Massimiliano Gabardi, Massimiliano Solazzi, Antonio Frisoli:
"Bilateral Rehabilitation of Hand Grasping with an Underactuated Hand Exoskeleton",
International Conference on NeuroRehabilitation (ICNR), 2018

Fabio Stroppa, Claudio Loconsole, Simone Marcheschi, Nicola Mastronicola, Antonio Frisoli:
"An Improved Adaptive Robotic Assistance Methodology for Upper-Limb Rehabilitation",
International Conference on Human Haptic Sensing and Touch Enabled Computer Applications (Eurohaptics), 2018

Antonio Di Guardo, Mine Sarac, Massimiliano Gabardi, Daniele Leonardis, Massimiliano Solazzi,, Antonio Frisoli:
"Sensitivity Analysis and Identification of Human Parameters for an Adaptive, Underactuated Hand Exoskeleton",
16th International Symposium on Advances in Robot Kinematics (ARK), 2018

Mine Sarac, Massimiliano Solazzi,  Miguel A. Otaduy,  Antonio Frisoli:
"Rendering Strategies for Underactuated Hand Exoskeletons",
IEEE Robotics and Automation Letters (RA-L), 2018

Diego Rodriguez, Sven Behnke:
"Transferring Category-based Functional Grasping Skills by Latent Space Non-Rigid Registration",
IEEE Robotics and Automation Letters (RA-L), 2018

Jinoh Lee,  Chan Lee, Nikos G. Tsagarakis, Sehoon Oh:
"Residual-Based External Torque Estimation in Series Elastic Actuators Over a Wide Stiffness Range: Frequency Domain Approach",
IEEE Robotics and Automation Letters (RA-L), 2018

Massimiliano Gabardi,  Massimiliano Solazzi, Daniele Leonardis, Antonio Frisoli:
"Design and Evaluation of a Novel 5 DoF Underactuated Thumb-Exoskeleton",
IEEE Robotics and Automation Letters (RA-L), 2018

Domenico Buongiorno,  Edoardo Sotgiu,  Daniele Leonardis, Simone Marcheschi, Massimiliano Solazzi,  Antonio Frisoli:
"WRES: a novel 3DoF WRist ExoSkeleton with tendon-driven differential transmission for neuro-rehabilitation and teleoperation",
IEEE Robotics and Automation Letters (RA-L), 2018

Diego Rodriguez, Antonio Di Guardo, Antonio Frisoli, Sven Behnke:
"Learning Postural Synergies for Categorical Grasping through Shape Space Registration",
IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), 2018

Dmytro Pavlichenko, Diego Rodriguez, Max Schwarz, Christian Lenz, Arul Selvam Periyasamy, Sven Behnke:
"Autonomous Dual-Arm Manipulation of Familiar Objects",
IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), 2018

Malgorzata Kamedula, Navvab Kashiri, Nikos G. Tsagarakis:
"On the Kinematics of Wheeled Motion Control of a Hybrid Wheeled-Legged CENTAURO Robot",
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018

Mohammad Shahbazi Aghbelagh, Navvab Kashiri, Darwin G. Caldwell, Nikos G. Tsagarakis:
"On the Orientation Planning with Constrained Angular Velocity and Acceleration at Endpoints",
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018

Zeyu Ren, Navvab Kashiri, Chengxu Zhou, Nikos G. Tsagarakis:
"HERI II: A Robust and Flexible Robotic Hand based on Modular Finger design and Under Actuation Principles",
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018

Jan Quenzel, Jannis Horn, Sebastian Houben, Sven Behnke:
"Keyframe-based Photometric Online Calibration and Color Correction",
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018

Tobias Klamt, Diego Rodriguez, Max Schwarz, Christian Lenz, Dmytro Pavlichenko, David Droeschel, Sven Behnke:
"Supervised Autonomous Locomotion and Manipulation for Disaster Response with a Centaur-like Robot",
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018

Arul Selvam Periyasamy, Max Schwarz, Sven Behnke:
"Robust 6D Object Pose Estimation in Cluttered Scenes using Semantic Segmentation and Pose Regression Networks",
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018

Luca Muratore, Barry Lennox, Nikos G. Tsagarakis:
"XBotCloud: a Scalable Cloud Computing Infrastructure for XBot Powered Robots",
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018

Wesley Roozing, Navvab Kashiri, Nikos G. Tsagarakis:
"Enhanced Explosive Motion for Torque Controlled Actuators through Field Weakening Control",
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018

Arturo Laurenzi, Enrico Mingo Hoffman, Nikos G. Tsagarakis:
"Quadrupedal Walking Motion and Footstep Placement through Linear Model Predictive Control",
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018

Xi Chen, Ali Ghadirzadeh, John Folkesson, Patric Jensfelt:
"Deep reinforcement learning to acquire navigation skills for wheel-legged robots in complex environments",
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018

Karl Holmquist, Deniz Senel, Michael Felsberg:
"Computing a Collision-Free Path Using the Monogenic Scale Space",
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018

Diego Rodriguez, Corbin Cogswell, Seongyong Koo, Sven Behnke:
"Transferring grasping skills to novel instances by latent space non-rigid registration",
IEEE International Conference on Robotics and Automation (ICRA), 2018

Luca Muratore, Arturo Laurenzi, Enrico Mingo Hoffman, Lorenzo Baccelliere, Navvab Kashiri, Darwin G. Caldwell, Nikos G. Tsagarakis:
"Enhanced tele-interaction in unknown environments using semi-autonomous motion and impedance regulation principles",
IEEE International Conference on Robotics and Automation (ICRA), 2018

Tobias Klamt, Sven Behnke:
"Planning Hybrid Driving-Stepping Locomotion on Multiple Levels of Abstraction",
IEEE International Conference on Robotics and Automation (ICRA), 2018

Enrico Mingo Hoffman, Arturo Laurenzi, Luca Muratore, Nikos G. Tsagarakis, Darwin G. Caldwell:
"Multi-priority cartesian impedance control based on quadratic programming optimization",
IEEE International Conference on Robotics and Automation (ICRA), 2018

David Droeschel, Sven Behnke:
"Efficient Continuous-time SLAM for 3D Lidar-based Online Mapping",
IEEE International Conference on Robotics and Automation (ICRA), 2018

Max Schwarz, Christian Lenz, German Martin Garcia, Seongyong Koo, Arul Selvam Periyasamy, Michael Schreiber, Sven Behnke:
"Fast Object Learning and Dual-arm Coordination for Cluttered Stowing, Picking, and Packing",
IEEE International Conference on Robotics and Automation (ICRA), 2018

Giuseppe Rigano,  Luca Muratore,  Arturo Laurenzi, Enrico Mingo Hoffman, Nikos G. Tsagarakis:
"Towards A Robot Hardware Abstraction Layer (R-HAL) Leveraging the XBot Software Framework",
Second IEEE International Conference on Robotic Computing (IRC), 2018

Cheng Fang, Giuseppe F. Rigano, Navvab Kashiri, Arash Ajoudani, Jinoh Lee, Nikos G. Tsagarakis:
"Online Joint Stiffness Transfer from Human Arm to Anthropomorphic Arm",
IEEE International Conference on Systems, Man, and Cybernetics (SMC), 2018

Felix Järemo Lawin, Martin Danelljan, Fahad Khan, Per-Erik Forssen, Michael Felsberg:
"Density Adaptive Point Set Registration",
IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2018

Mikael Persson, Klas Nordberg:
"Lambda Twist: An Accurate Fast Robust Perspective Three Point (P3P) Solver",
European Conference on Computer Vision (ECCV), 2018

Michael Felsberg:
"Probabilistic and Biologically Inspired Feature Representations",
Synthesis Lectures on Computer Vision, 2018

Max Schwarz, Anton Milan, Arul Selvam Periyasamy, Sven Behnke:
"RGB-D Object Detection and Semantic Segmentation for Autonomous Manipulation in Clutter",
International Journal of Robotics Research (IJRR), 2018

Max Schwarz, Marius Beul, David Droeschel, Tobias Klamt, Christian Lenz, Dmytro Pavlichenko, Tobias Rodehutskors, Michael Schreiber, Nikita Araslanov, Ivan Ivanov, Jan Razlaw, Sebastian Schüller, David Schwarz, Angeliki Topalidou-Kyniazopoulou, Sven Behnke:
"DRC Team NimbRo Rescue: Perception and Control for Centaur-like Mobile Manipulation Robot Momaro"
The Darpa Robotics Challenge Finals: Humanoid Robots To The Rescue, Springer Tracts in Advanced Robotics (STAR), 2018

 

2017

Farzad Husain, Hannes Schulz, Babette Dellen, Carme Torras, Sven Behnke:
"Combining Semantic and Geometric Features for Object Class Segmentation of Indoor Scenes",
IEEE Robotics and Automation Letters (RA-L), 2017

Navvab Kashiri, Jörn Malzahn, Nikos G. Tsagarakis:
"On the Sensor Design of Torque Controlled Actuators: A Comparison Study of Strain Gauge and Encoder Based Principles",
IEEE Robotics and Automation Letters (RA-L), 2017

Mohammad Shahbazi,  Navvab Kashiri, Darwin G. Caldwell, Nikos G. Tsagarakis:
"Orientation Planning in Task Space Using Quaternion Polynomials",
IEEE International Conference on Robotics and Biomimetics, 2017

Mohammad Shahbazi, Jinoh Lee, Darwin G. Caldwell, Nikos G. Tsagarakis:
"Inverse Dynamics Control of Bimanual Object Manipulation Using Orthogonal Decomposition: An Analytic Approach",
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017

Fabian Schilling, Xi Chen, John Folkesson, Patric Jensfelt:
"Geometric and visual terrain classification for autonomous mobile navigation",
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017

Zeyu Ren, Chengxu Zhou, Songyan Xin, Nikos G. Tsagarakis:
"HERI Hand: A Quasi Dexterous and Powerful Hand with Asymmetrical Finger Dimensions and under Actuation",
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017

Jörn Malzahn, Navvab Kashiri, Wesley Roozing, Nikos G. Tsagarakis, Darwin G. Caldwell:
"What Is the Torque Bandwidth of This Actuator?",
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017

Dmytro Pavlichenko, Sven Behnke:
"Efficient Stochastic Multicriteria Arm Trajectory Optimization",
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017

Tobias Klamt, Sven Behnke:
"Anytime Hybrid Driving-Stepping Locomotion Planning",
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017

Jan Quenzel, Radu Alexandru Rosu, Sebastian Houben, Sven Behnke:
"Online Depth Calibration for RGB-D Cameras using Visual SLAM",
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017

Lorenzo Baccelliere,  Navvab Kashiri, Luca Muratore, Arturo Laurenzi, Malgorzata Kamedula, Alessio Margan, Stefano Cordasco, Jörn Malzahn, Nikos G. Tsagarakis:
"Development of a Human Size and Strength Compliant Bi-Manual Platform for Realistic Heavy Manipulation Tasks",
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017

Felix Järemo Lawin, Martin Danelljan, Patrik Tosteberg, Goutam Bhat,  Fahad Shahbaz Khan, Michael Felsberg:
"Deep Projective 3D Semantic Segmentation",
17th International Conference on Computer Analysis of Images and Patterns (CAIP), 2017

Andreas Robinson,  Mikael Persson, Michael Felsberg:
"Robust Accurate Extrinsic Calibration of Static Non-overlapping Cameras",
17th International Conference on Computer Analysis of Images and Patterns (CAIP), 2017

Torben Cichon, Jürgen Rossmann:
"Robotic teleoperation: Mediated and supported by virtual testbeds",
IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR), 2017

Luca Muratore, Alessio Rocchi, Enrico Mingo Hoffman, Nikos G. Tsagarakis, Darwin G. Caldwell:
"XBotCore: A Real-Time Cross-Robot Software Platform",
IEEE First International Conference on Robotic Computing (IRC), 2017

Torben Cichon, Jürgen Rossmann:
"Simulation-based User Interfaces for Digital Twins: Pre-, In-, or Post-Operational Analysis and Exploration of Virtual Testbeds",
The 31st European Simulation and Modelling Conference (ESM) - Modelling and Simulation, 2017

Max Schwarz, Tobias Rodehutskors, David Droeschel, Marius Beul, Michael Schreiber, Nikita Araslanov, Ivan Ivanov, Christian Lenz, Jan Razlaw, Sebastian Schüller, David Schwarz, Angeliki Topalidou-Kyniazopoulou, Sven Behnke:
"NimbRo Rescue: Solving Disaster-Response Tasks through Mobile Manipulation Robot Momaro",
Journal of Field Robotics (JFR), 2017

David Droeschel, Max Schwarz, Sven Behnke:
"Continuous Mapping and Localization for Autonomous Navigation in Rough Terrain using a 3D Laser Scanner",
Robotics and Autonomous Systems, 2017

 

2016

Max Schwarz, Tobias Rodehutskors, Michael Schreiber, Sven Behnke:
"Hybrid Driving-Stepping Locomotion with the Wheeled-legged Robot Momaro",
IEEE International Conference on Robotics and Automation (ICRA), 2016

Max Schwarz, Sebastian Schüller, Christian Lenz, David Droeschel, Sven Behnke:
"Supervised Autonomy for Exploration and Mobile Manipulation in Rough Terrain",
14th International Conference on Intelligent Autonomous Systems (IAS), 2016

German Martin Garcia, Farzad Husain, Hannes Schulz, Simone Frintrop, Carme Torras, Sven Behnke:
"Semantic Segmentation Priors for Object Discovery",
23rd International Conference on Pattern Recognition (ICPR), 2016

Susanna Gladh, Martin Danelljan, Fahad Shahbaz Khan, Michael Felsberg:
"Deep Motion Features for Visual Tracking",
23rd International Conference on Pattern Recognition (ICPR), 2016

Jürgen Rossmann, Magdalena Dimartino, Marc Priggemeyer, Ralf Waspe:
"Practical applications of simulation-based control",
IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 2016

Arturo Laurenzi, Navvab Kashiri, Nikos G.Tsagarakis, Darwin G. Caldwell:
"Online payload estimation for a floating-base legged robot",
9th International Workshop on Human-Friendly Robotics, 2016

Malgorzata Kamedula, Navvab Kashiri, Darwin G. Caldwell, Nikos G.Tsagarakis:
"Development of Gazebo-ROS Simulator for a Centaur Robot Powered by Compliant Joint Actuators",
9th International Workshop on Human-Friendly Robotics, 2016

Felix Järemo Lawin, Per-Erik Forssen, Hannes Ovren:
"Efficient multi-frequency phase unwrapping using kernel density estimation",
European Conference on Computer Vision (ECCV), 2016

Martin Danelljan, Andreas Robinson, Fahad Shahbaz Khan, Michael Felsberg:
"Beyond correlation filters: Learning continuous convolution operators for visual tracking",
European Conference on Computer Vision (ECCV), 2016

Navvab Kashiri, Arash Ajoudani, Darwin G. Caldwell, Nikos G. Tsagarakis:
"Evaluation of Hip Kinematics Influence on the Performance of a Quadrupedal Robot Leg",
13th International Conference on Informatics in Control, Automation and Robotics (ICINCO), 2016

Malgorzata Kamedula, Navvab Kashiri, Darwin G. Caldwell, Nikos G. Tsagarakis:
"A Compliant Actuation Dynamics Gazebo-ROS Plugin for Effective Simulation of Soft Robotics Systems: Application to CENTAURO Robot",
13th International Conference on Informatics in Control, Automation and Robotics (ICINCO), 2016

David Droeschel, Sven Behnke:
"MRSLaserMap: Local Multiresolution Grids for Efficient 3D Laser Mapping and Localization",
20th RoboCup International Symposium, 2016

Martin, Danelljan, Giulia Meneghetti, Fahad Shahbaz Khan, Michael Felsberg:
"A Probabilistic Framework for Color-Based Point Set Registration",
IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2016

Martin Danelljan, Giulia Meneghetti, Fahad Shahbaz Khan, Michael Felsberg:
"Aligning the dissimilar: A probabilistic method for feature-based point set registration",
23rd International Conference on Pattern Recognition (ICPR), 2016

Torben Cichon, Christian Schlette, Jürgen Rossmann:
"Towards a 3D simulation-based operator interface for teleoperated robots in disaster scenarios",
IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR), 2016

Torben Cichon,  Claudio Loconsole,  Domenico Buongiorno,  Massimiliano Solazzi, Christian Schlette, Antonio Frisoli, Jürgen Rossmann:
"Combining an exoskeleton with 3D simulation in-the-loop",
9th International Workshop on Human Friendly Robotics, 2016

Domenico Buongiorno,  Francesco Barone,  Massimiliano Solazzi,  Vitoantonio Bevilacqua,  Antonio Frisoli:
"A Linear Optimization Procedure for an EMG-driven NeuroMusculoSkeletal Model Parameters Adjusting: Validation Through a Myoelectric Exoskeleton Control",
International Conference on Human Haptic Sensing and Touch Enabled Computer Applications (Eurohaptics), 2016

Nico Hempe, Jürgen Rossmann:
"Connecting the Areas of eLearning, Virtual Training and Engineering in multidisciplinary eRobotics Applications",
IEEE Future Technologies Conference (FTC), 2016

Torben Cichon, Marc Priggemeyer, Jürgen Rossmann:
"Simulation-Based Control and Simulation-Based Support in eRobotics Applications",
Robotics and Automated Production Lines - Journal, 2016

Max Schwarz, Marius Beul, David Droeschel, Sebastian Schüller, Arul Selvam Periyasamy, Christian Lenz, Michael Schreiber, Sven Behnke:
"Supervised Autonomy for Exploration and Mobile Manipulation in Rough Terrain with a Centaur-like Robot",
Frontiers in Robotics and AI -Section Humanoid Robotics, 2016

 

2015

Max Schwarz, Sven Behnke:
"Semi-autonomous concurrent driving-stepping locomotion",
Late Breaking Result Abstracts at IEEE International Conference on Robotics and Automation (ICRA), 2015

Tobias Rodehutskors, Max Schwarz, Sven Behnke:
"Intuitive bimanual telemanipulation under communication restrictions by immersive 3D visualization and motion tracking",
IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), 2015

Giulia Meneghetti, Martin Danelljan, Michael Felsberg, Klas Nordberg:
"Image alignment for panorama stitching in sparsely structured environments",
Scandinavian Conference on Image Analysis, 2015

Martin Danelljan, Gustav Häger, Fahad Shahbaz Khan, Michael Felsberg:
"Coloring channel representations for visual tracking",
Scandinavian Conference on Image Analysis, 2015

Fahad Shahbaz Khan, Rao Muhammad Anwer, Joost van de Weijer, Michael Felsberg, Jorma Laaksonen:
"Deep semantic pyramids for human attributes and action recognition",
Scandinavian Conference on Image Analysis, 2015

Markus Emde, Jürgen Rossmann:
"Modelling and Simulation of a Laser Scanner with Adjustable Pattern as Virtual Prototype for Future Space Missions",
IEEE Third International Conference on Artificial Intelligence, Modelling and Simulation (AIMS), 2015

Domenico Buongiorno,  Michele Barsotti,  Edoardo Sotgiu,  Claudio Loconsole,  Massimiliano Solazzi,  Vitoantonio Bevilacqua,  Antonio Frisoli:
"A neuromusculoskeletal model of the human upper limb for a myoelectric exoskeleton control using a reduced number of muscles",
IEEE World Haptics Conference (WHC), 2015