72 citations · 193 across the 15 of their papers we have counts for
18 papers · 1 filter
Mapless Humanoid Navigation Using Learned Latent Dynamics
Andre Brandenburger, Diego Rodriguez, Sven Behnke
In this paper, we propose a novel Deep Reinforcement Learning approach to address the mapless navigation problem, in which the locomotion actions of a humanoid robot are taken onli…
DeepWalk: Omnidirectional Bipedal Gait by Deep Reinforcement Learning
Diego Rodriguez, Sven Behnke
Bipedal walking is one of the most difficult but exciting challenges in robotics. The difficulties arise from the complexity of high-dimensional dynamics, sensing and actuation lim…
NimbRo-OP2X: Affordable Adult-sized 3D-printed Open-Source Humanoid Robot for Research
Grzegorz Ficht, Hafez Farazi, Diego Rodriguez +4
For several years, high development and production costs of humanoid robots restricted researchers interested in working in the field. To overcome this problem, several research gr…
RoboCup 2019 AdultSize Winner NimbRo: Deep Learning Perception, In-Walk Kick, Push Recovery, and Team Play Capabilities
Diego Rodriguez, Hafez Farazi, Grzegorz Ficht +7
Individual and team capabilities are challenged every year by rule changes and the increasing performance of the soccer teams at RoboCup Humanoid League. For RoboCup 2019 in the Ad…
Autonomous Bimanual Functional Regrasping of Novel Object Class Instances
Dmytro Pavlichenko, Diego Rodriguez, Christian Lenz +2
In human-made scenarios, robots need to be able to fully operate objects in their surroundings, i.e., objects are required to be functionally grasped rather than only picked. This…
Flexible Disaster Response of Tomorrow -- Final Presentation and Evaluation of the CENTAURO System
Tobias Klamt, Diego Rodriguez, Lorenzo Baccelliere +29
Mobile manipulation robots have high potential to support rescue forces in disaster-response missions. Despite the difficulties imposed by real-world scenarios, robots are promisin…
NimbRo Robots Winning RoboCup 2018 Humanoid AdultSize Soccer Competitions
Hafez Farazi, Grzegorz Ficht, Philipp Allgeuer +5
Over the past few years, the Humanoid League rules have changed towards more realistic and challenging game environments, which encourage teams to advance their robot soccer perfor…
Remote Mobile Manipulation with the Centauro Robot: Full-body Telepresence and Autonomous Operator Assistance
Tobias Klamt, Max Schwarz, Christian Lenz +21
Solving mobile manipulation tasks in inaccessible and dangerous environments is an important application of robots to support humans. Example domains are construction and maintenan…
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…
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…
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…
Transferring Category-based Functional Grasping Skills by Latent Space Non-Rigid Registration
Diego Rodriguez, Sven Behnke
Objects within a category are often similar in their shape and usage. When we---as humans---want to grasp something, we transfer our knowledge from past experiences and adapt it to…
Combining Simulations and Real-robot Experiments for Bayesian Optimization of Bipedal Gait Stabilization
Diego Rodriguez, André Brandenburger, Sven Behnke
Walking controllers often require parametrization which must be tuned according to some cost function. To estimate these parameters, simulations can be performed which are cheap bu…
Advanced Soccer Skills and Team Play of RoboCup 2017 TeenSize Winner NimbRo
Diego Rodriguez, Hafez Farazi, Philipp Allgeuer +5
In order to pursue the vision of the RoboCup Humanoid League of beating the soccer world champion by 2050, new rules and competitions are added or modified each year fostering nove…
Transferring Grasping Skills to Novel Instances by Latent Space Non-Rigid Registration
Diego Rodriguez, Corbin Cogswell, Seongyong Koo +1
Robots acting in open environments need to be able to handle novel objects. Based on the observation that objects within a category are often similar in their shapes and usage, we…
Grown-up NimbRo Robots Winning RoboCup 2017 Humanoid AdultSize Soccer Competitions
Grzegorz Ficht, Dmytro Pavlichenko, Philipp Allgeuer +6
The ongoing evolution of the RoboCup Humanoid League led in 2017 to the introduction of one vs. one soccer games for the AdultSize robots, which motived our team NimbRo to enter th…
Supervised Autonomous Locomotion and Manipulation for Disaster Response with a Centaur-like Robot
Tobias Klamt, Diego Rodriguez, Max Schwarz +4
Mobile manipulation tasks are one of the key challenges in the field of search and rescue (SAR) robotics requiring robots with flexible locomotion and manipulation abilities. Since…