146 citations · 509 across the 16 of their papers we have counts for
19 papers
Self-Centering 3-DoF Feet Controller for Hands-Free Locomotion Control in Telepresence and Virtual Reality
Raphael Memmesheimer, Christian Lenz, Max Schwarz +2
We present a novel seated feet controller for handling 3-DoF aimed to control locomotion for telepresence robotics and virtual reality environments. Tilting the feet on two axes yi…
HortiBot: An Adaptive Multi-Arm System for Robotic Horticulture of Sweet Peppers
Christian Lenz, Rohit Menon, Michael Schreiber +3
Horticultural tasks such as pruning and selective harvesting are labor intensive and horticultural staff are hard to find. Automating these tasks is challenging due to the semi-str…
NimbRo wins ANA Avatar XPRIZE Immersive Telepresence Competition: Human-Centric Evaluation and Lessons Learned
Christian Lenz, Max Schwarz, Andre Rochow +4
Robotic avatar systems can enable immersive telepresence with locomotion, manipulation, and communication capabilities. We present such an avatar system, based on the key component…
Audio-based Roughness Sensing and Tactile Feedback for Haptic Perception in Telepresence
Bastian Pätzold, Andre Rochow, Michael Schreiber +4
Haptic perception is highly important for immersive teleoperation of robots, especially for accomplishing manipulation tasks. We propose a low-cost haptic sensing and rendering sys…
Robust Immersive Telepresence and Mobile Telemanipulation: NimbRo wins ANA Avatar XPRIZE Finals
Max Schwarz, Christian Lenz, Raphael Memmesheimer +4
Robotic avatar systems promise to bridge distances and reduce the need for travel. We present the updated NimbRo avatar system, winner of the $5M grand prize at the international A…
Bimanual Telemanipulation with Force and Haptic Feedback through an Anthropomorphic Avatar System
Christian Lenz, Sven Behnke
Robotic teleoperation is a key technology for a wide variety of applications. It allows sending robots instead of humans in remote, possibly dangerous locations while still using t…
Bimanual Telemanipulation with Force and Haptic Feedback and Predictive Limit Avoidance
Christian Lenz, Sven Behnke
Robotic teleoperation is a key technology for a wide variety of applications. It allows sending robots instead of humans in remote, possibly dangerous locations while still using t…
Autonomous Fire Fighting with a UAV-UGV Team at MBZIRC 2020
Jan Quenzel, Malte Splietker, Dmytro Pavlichenko +6
Every day, burning buildings threaten the lives of occupants and first responders trying to save them. Quick action is of essence, but some areas might not be accessible or too dan…
Team NimbRo's UGV Solution for Autonomous Wall Building and Fire Fighting at MBZIRC 2020
Christian Lenz, Jan Quenzel, Arul Selvam Periyasamy +7
Autonomous robotic systems for various applications including transport, mobile manipulation, and disaster response are becoming more and more complex. Evaluating and analyzing suc…
Autonomous Wall Building with a UGV-UAV Team at MBZIRC 2020
Christian Lenz, Max Schwarz, Andre Rochow +4
Constructing large structures with robots is a challenging task with many potential applications that requires mobile manipulation capabilities. We present two systems for autonomo…
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…
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…
A VR System for Immersive Teleoperation and Live Exploration with a Mobile Robot
Patrick Stotko, Stefan Krumpen, Max Schwarz +4
Applications like disaster management and industrial inspection often require experts to enter contaminated places. To circumvent the need for physical presence, it is desirable to…
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 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…
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…
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…