26 citations · 29 across the 4 of their papers we have counts for
5 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…
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…
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…
A Model-Driven Engineering Approach for ROS using Ontological Semantics
Stefan Zander, Georg Heppner, Georg Neugschwandtner +3
This paper presents a novel ontology-driven software engineering approach for the development of industrial robotics control software. It introduces the ReApp architecture that syn…