29 citations · 139 across the 37 of their papers we have counts for
19 papers · 1 filter
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…
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…
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…
Hierarchical and State-based Architectures for Robot Behavior Planning and Control
Philipp Allgeuer, Sven Behnke
In this paper, two behavior control architectures for autonomous agents in the form of cross-platform C++ frameworks are presented, the State Controller Library and the Behavior Co…
A ROS-based Software Framework for the NimbRo-OP Humanoid Open Platform
Philipp Allgeuer, Max Schwarz, Julio Pastrana +3
Over the past few years, a number of successful humanoid platforms have been developed, including the Nao and the DARwIn-OP, both of which are used by many research groups for the…
Humanoid TeenSize Open Platform NimbRo-OP
Max Schwarz, Julio Pastrana, Philipp Allgeuer +4
In recent years, the introduction of affordable platforms in the KidSize class of the Humanoid League has had a positive impact on the performance of soccer robots. The lack of rea…
Omnidirectional Bipedal Walking with Direct Fused Angle Feedback Mechanisms
Philipp Allgeuer, Sven Behnke
An omnidirectional closed-loop gait based on the direct feedback of orientation deviation estimates is presented in this paper. At the core of the gait is an open-loop central patt…
Child-sized 3D Printed igus Humanoid Open Platform
Philipp Allgeuer, Hafez Farazi, Michael Schreiber +1
The use of standard platforms in the field of humanoid robotics can accelerate research, and lower the entry barrier for new research groups. While many affordable humanoid standar…
Robust Sensor Fusion for Robot Attitude Estimation
Philipp Allgeuer, Sven Behnke
Knowledge of how a body is oriented relative to the world is frequently invaluable information in the field of robotics. An attitude estimator that fuses 3-axis gyroscope, accelero…
Fused Angles and the Deficiencies of Euler Angles
Philipp Allgeuer, Sven Behnke
Just like the well-established Euler angles representation, fused angles are a convenient parameterisation for rotations in three-dimensional Euclidean space. They were developed i…
Fused Angles: A Representation of Body Orientation for Balance
Philipp Allgeuer, Sven Behnke
The parameterisation of rotations in three dimensional Euclidean space is an area of applied mathematics that has long been studied, dating back to the original works of Euler in t…
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…
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…