194 citations · 1.5k across the 123 of their papers we have counts for
42 papers · 1 filter
Autonomous Dual-Arm Manipulation of Familiar Objects
Dmytro Pavlichenko, Diego Rodriguez, Max Schwarz +3
Autonomous dual-arm manipulation is an essential skill to deploy robots in unstructured scenarios. However, this is a challenging undertaking, particularly in terms of perception a…
NimbRo-OP2X: Adult-sized Open-source 3D Printed Humanoid Robot
Grzegorz Ficht, Hafez Farazi, André Brandenburger +5
Humanoid robotics research depends on capable robot platforms, but recently developed advanced platforms are often not available to other research groups, expensive, dangerous to o…
Online Balanced Motion Generation for Humanoid Robots
Grzegorz Ficht, Sven Behnke
Reducing the complexity of higher order problems can enable solving them in analytical ways. In this paper, we propose an analytic whole body motion generator for humanoid robots.…
Learning Postural Synergies for Categorical Grasping through Shape Space Registration
Diego Rodriguez, Antonio Di Guardo, Antonio Frisoli +1
Every time a person encounters an object with a given degree of familiarity, he/she immediately knows how to grasp it. Adaptation of the movement of the hand according to the objec…
Feature-based visual odometry prior for real-time semi-dense stereo SLAM
Nicola Krombach, David Droeschel, Sebastian Houben +1
Robust and fast motion estimation and mapping is a key prerequisite for autonomous operation of mobile robots. The goal of performing this task solely on a stereo pair of video cam…
Efficient Continuous-Time SLAM for 3D Lidar-Based Online Mapping
David Droeschel, Sven Behnke
Modern 3D laser-range scanners have a high data rate, making online simultaneous localization and mapping (SLAM) computationally challenging. Recursive state estimation techniques…
Real-Time Visual Tracking and Identification for a Team of Homogeneous Humanoid Robots
Hafez Farazi, Sven Behnke
The use of a team of humanoid robots to collaborate in completing a task is an increasingly important field of research. One of the challenges in achieving collaboration, is mutual…
Online Visual Robot Tracking and Identification using Deep LSTM Networks
Hafez Farazi, Sven Behnke
Collaborative robots working on a common task are necessary for many applications. One of the challenges for achieving collaboration in a team of robots is mutual tracking and iden…
Location Dependency in Video Prediction
Niloofar Azizi, Hafez Farazi, Sven Behnke
Deep convolutional neural networks are used to address many computer vision problems, including video prediction. The task of video prediction requires analyzing the video frames,…
Functionally Modular and Interpretable Temporal Filtering for Robust Segmentation
Jörg Wagner, Volker Fischer, Michael Herman +1
The performance of autonomous systems heavily relies on their ability to generate a robust representation of the environment. Deep neural networks have greatly improved vision-base…
Hierarchical Recurrent Filtering for Fully Convolutional DenseNets
Jörg Wagner, Volker Fischer, Michael Herman +1
Generating a robust representation of the environment is a crucial ability of learning agents. Deep learning based methods have greatly improved perception systems but still fail i…
NimbRo Rescue: Solving Disaster-Response Tasks through Mobile Manipulation Robot Momaro
Max Schwarz, Tobias Rodehutskors, David Droeschel +10
Robots that solve complex tasks in environments too dangerous for humans to enter are desperately needed, e.g. for search and rescue applications. We describe our mobile manipulati…
Bipedal Walking with Corrective Actions in the Tilt Phase Space
Philipp Allgeuer, Sven Behnke
Many methods exist for a bipedal robot to keep its balance while walking. In addition to step size and timing, other strategies are possible that influence the stability of the rob…
Tilt Rotations and the Tilt Phase Space
Philipp Allgeuer, Sven Behnke
In this paper, the intuitive idea of tilt is formalised into the rigorous concept of tilt rotations. This is motivated by the high relevance that pure tilt rotations have in the an…
Robust 6D Object Pose Estimation in Cluttered Scenes using Semantic Segmentation and Pose Regression Networks
Arul Selvam Periyasamy, Max Schwarz, Sven Behnke
Object pose estimation is a crucial prerequisite for robots to perform autonomous manipulation in clutter. Real-world bin-picking settings such as warehouses present additional cha…
Team NimbRo at MBZIRC 2017: Autonomous Valve Stem Turning using a Wrench
Max Schwarz, David Droeschel, Christian Lenz +7
The Mohamed Bin Zayed International Robotics Challenge (MBZIRC) 2017 has defined ambitious new benchmarks to advance the state-of-the-art in autonomous operation of ground-based an…
Fast Object Learning and Dual-arm Coordination for Cluttered Stowing, Picking, and Packing
Max Schwarz, Christian Lenz, Germán Martín García +4
Robotic picking from cluttered bins is a demanding task, for which Amazon Robotics holds challenges. The 2017 Amazon Robotics Challenge (ARC) required stowing items into a storage…
RGB-D Object Detection and Semantic Segmentation for Autonomous Manipulation in Clutter
Max Schwarz, Anton Milan, Arul Selvam Periyasamy +1
Autonomous robotic manipulation in clutter is challenging. A large variety of objects must be perceived in complex scenes, where they are partially occluded and embedded among many…
First International HARTING Open Source Prize Winner: The igus Humanoid Open Platform
Philipp Allgeuer, Grzegorz Ficht, Hafez Farazi +2
The use of standard platforms in the field of humanoid robotics can lower the entry barrier for new research groups, and accelerate research by the facilitation of code sharing. Nu…
NimbRo-OP2: Grown-up 3D Printed Open Humanoid Platform for Research
Grzegorz Ficht, Philipp Allgeuer, Hafez Farazi +1
The versatility of humanoid robots in locomotion, full-body motion, interaction with unmodified human environments, and intuitive human-robot interaction led to increased research…
RoboCup 2016 Humanoid TeenSize Winner NimbRo: Robust Visual Perception and Soccer Behaviors
Hafez Farazi, Philipp Allgeuer, Grzegorz Ficht +4
The trend in the RoboCup Humanoid League rules over the past few years has been towards a more realistic and challenging game environment. Elementary skills such as visual percepti…
The igus Humanoid Open Platform: A Child-sized 3D Printed Open-Source Robot for Research
Philipp Allgeuer, Hafez Farazi, Grzegorz Ficht +2
The use of standard robotic platforms can accelerate research and lower the entry barrier for new research groups. There exist many affordable humanoid standard platforms in the lo…
A Monocular Vision System for Playing Soccer in Low Color Information Environments
Hafez Farazi, Philipp Allgeuer, Sven Behnke
Humanoid soccer robots perceive their environment exclusively through cameras. This paper presents a monocular vision system that was originally developed for use in the RoboCup Hu…
Learning to Improve Capture Steps for Disturbance Rejection in Humanoid Soccer
Marcell Missura, Cedrick Münstermann, Philipp Allgeuer +5
Over the past few years, soccer-playing humanoid robots have advanced significantly. Elementary skills, such as bipedal walking, visual perception, and collision avoidance have mat…