5 citations · 8 across the 15 of their papers we have counts for
16 papers
Optimized Wrench Polytope Analysis for Real-Time Stability Control of Legged Robots in Complex Multi-Contact Configurations
Friedrich Graaf, Elias Birkefeld, Christian Eichmann +5
Legged robots offer a variety of automation applications in real-world scenarios. But areas that are difficult to traverse, like slopes, caves, or scaffolding, still pose a great c…
From Pixels to Concepts: Growing Rich 3D Semantic Scene Graph Forests utilizing Foundation Models
David Oberacker, Meike Deitersen, Niklas Spielbauer +3
Operating in complex real-world environments requires robots to understand their surroundings on a functional semantic level. This demands a detailed multi-layer world model captur…
Sensor Configuration Matters: A Systematic Evaluation of Multimodal SLAM on Quadruped Robots
Roberto Corlito, Fabian Schmidt, Nils Seibert +3
Autonomous navigation of quadrupedal robots in diverse environments fundamentally relies on resilient Simultaneous Localization and Mapping (SLAM). While visual-inertial SLAM has m…
MOSAIC: Modular Scalable Autonomy for Intelligent Coordination of Heterogeneous Robotic Teams
David Oberacker, Julia Richter, Philip Arm +10
Mobile robots have become indispensable for exploring hostile environments, such as in space or disaster relief scenarios, but often remain limited to teleoperation by a human oper…
A Practical Framework of Key Performance Indicators for Multi-Robot Lunar and Planetary Field Tests
Julia Richter, David Oberacker, Gabriela Ligeza +10
Robotic prospecting for critical resources on the Moon, such as ilmenite, rare earth elements, and water ice, requires robust exploration methods given the diverse terrain and hars…
LAURON VI: A Six-Legged Robot for Dynamic Walking
Christian Eichmann, Sabine Bellmann, Nicolas Hügel +5
Legged locomotion enables robotic systems to traverse extremely challenging terrains. In many real-world scenarios, the terrain is not that difficult and these mixed terrain types…
Cleaning Robots in Public Spaces: A Survey and Proposal for Benchmarking Based on Stakeholders Interviews
Raphael Memmesheimer, Martina Overbeck, Bjoern Kral +4
Autonomous cleaning robots for public spaces have potential for addressing current societal challenges, such as labor shortages and cleanliness in public spaces. Other application…
Behavior Tree Capabilities for Dynamic Multi-Robot Task Allocation with Heterogeneous Robot Teams
Georg Heppner, David Oberacker, Arne Roennau +1
While individual robots are becoming increasingly capable, with new sensors and actuators, the complexity of expected missions increased exponentially in comparison. To cope with t…
Efficient Gesture Recognition on Spiking Convolutional Networks Through Sensor Fusion of Event-Based and Depth Data
Lea Steffen, Thomas Trapp, Arne Roennau +1
As intelligent systems become increasingly important in our daily lives, new ways of interaction are needed. Classical user interfaces pose issues for the physically impaired and a…
HoLLiE C -- A Multifunctional Bimanual Mobile Robot Supporting Versatile Care Applications
Lea Steffen, Martin Schulze, Christian Eichmann +8
Care robotics as a research field has developed a lot in recent years, driven by the rapidly increasing need for it. However, these technologies are mostly limited to a very concre…
Distributed Behavior Trees for Heterogeneous Robot Teams
Georg Heppner, Nils Berg, David Oberacker +3
Heterogeneous Robot Teams can provide a wide range of capabilities and therefore significant benefits when handling a mission. However, they also require new approaches to capabili…
Learning Human-Inspired Force Strategies for Robotic Assembly
Stefan Scherzinger, Arne Roennau, Rüdiger Dillmann
The programming of robotic assembly tasks is a key component in manufacturing and automation. Force-sensitive assembly, however, often requires reactive strategies to handle slight…
Reactive Neural Path Planning with Dynamic Obstacle Avoidance in a Condensed Configuration Space
Lea Steffen, Tobias Weyer, Stefan Ulbrich +2
We present a biologically inspired approach for path planning with dynamic obstacle avoidance. Path planning is performed in a condensed configuration space of a robot generated by…
A Walking Space Robot for On-Orbit Satellite Servicing: The ReCoBot
Stefan Scherzinger, Jakob Weinland, Robert Wilbrandt +3
A key factor in the economic efficiency of satellites is their availability in orbit. Replacing standardized building blocks, such as empty fuel tanks or outdated electronic module…
Comparing SONN Types for Efficient Robot Motion Planning in the Configuration Space
Lea Steffen, Tobias Weyer, Katharina Glueck +3
Motion planning in the configuration space (C-space) induces benefits, such as smooth trajectories. It becomes more complex as the degrees of freedom (DOF) increase. This is due to…
Motion Macro Programming on Assistive Robotic Manipulators: Three Skill Types for Everyday Tasks
Stefan Scherzinger, Pascal Becker, Arne Roennau +1
Assistive robotic manipulators are becoming increasingly important for people with disabilities. Teleoperating the manipulator in mundane tasks is part of their daily lives. Instea…