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Selected Publications on Research in Humanoid Robots

Veröffentlichungen über humanoide Roboter (Auswahl)

2016

  • Florian Reimold
    Robust Locomotion of a Humanoid Robot Considering Grasped Objects
    Diplomarbeit 2016
    PDF file (4.47 MB) | BibTeX
  • 2015

  • Philipp Schillinger
    An Approach for Runtime-Modifiable Behavior Control of Humanoid Rescue Robots
    Diplomarbeit 2015
    PDF file (15.3 MB) | BibTeX
  • Achim Stein
    Development of a Whole-Body Planning System for Humanoid Rescue Robots
    Diplomarbeit 2015
    (No PDF File) | BibTeX
  • 2013

  • Karen Petersen
    General Concepts for Human Supervision of Autonomous Robot Teams
    July 9, 2013
    (No PDF File) | BibTeX
  • Katayon Radkhah
    Advancing Musculoskeletal Robot Design for Dynamic and Energy-Efficient Bipedal Locomotion
    June 18, 2013
    (No PDF File) | BibTeX
  • 2012

  • J. Kuhn, S. Kohlbrecher, K. Petersen, D. Scholz, J. Wojtusch, O. von Stryk
    Team Description for Humanoid KidSize League of RoboCup 2012
    2012
    PDF file (1.17 MB) | BibTeX
  • K. Radkhah, O. von Stryk
    Human-Like Model-Based Motion Generation Combining Feedforward and Feedback Control for Musculoskeletal Robots
    In: Proc. 7th Annual Dynamic Walking Conference, May 21 - 24, 2012
    (No PDF File) | BibTeX
  • 2011

  • C. Maufroy, H.-M. Maus, K. Radkhah, D. Scholz, O. von Stryk, A. Seyfarth
    Dynamic leg function of the BioBiped humanoid robot
    In: Proc. 5th Int. Symposium on Adaptive Motion of Animals and Machines (AMAM), Oct. 11-14, 2011
    PDF file (1.72 MB) | BibTeX
  • Jochen Mück
    Entwicklung und Evaluation einer verbesserten Verfolgung von Lauftrajektorien für autonome humanoide Roboter
    Bachelor Thesis, 2011
    (No PDF File) | BibTeX
  • Sebastian Jakob
    Simulation humanoider Roboter in OpenHRP - Modellparameteridentifikation und Bewegungsparameteroptimierung
    Diplomarbeit 2011
    (No PDF File) | BibTeX
  • M. Friedmann, J. Kuhn, S. Kohlbrecher, K. Petersen, D. Scholz, D. Thomas, J. Wojtusch, O. von Stryk
    Darmstadt Dribblers - Team Description for Humanoid KidSize League of RoboCup 2011
    2011
    PDF file (1.16 MB) | BibTeX
  • K. Radkhah, C. Maufroy, M. Maus, D. Scholz, A. Seyfarth, O. von Stryk
    Concept and design of the BioBiped1 robot for human-like walking and running
    In: International Journal of Humanoid Robotics, Vol. 8, Nr. 3, pp. 439-458, 2011
    PDF file (7.21 MB) | BibTeX
  • S. Kohlbrecher, A. Stumpf, O. von Stryk
    Grid-Based Occupancy Mapping and Automatic Gaze Control for Soccer Playing Humanoid Robots
    In: Proc. 6th Workshop on Humanoid Soccer Robots at the 2011 IEEE-RAS Int. Conf. on Humanoid Robots, Oct. 26th - Oct. 28th, 2011
    PDF file (3.59 MB) | BibTeX
  • Janis Wojtusch
    Development of Electronics and Control for Servo Actuators in Robotic Applications
    Diplomarbeit 2011
    PDF file (7.9 MB) | BibTeX
  • K. Petersen, G. Stoll, O. von Stryk
    A Supporter Behavior for Soccer Playing Humanoid Robots
    In: RoboCup 2010: Robot Soccer World Cup XIV, (Ed. Ruiz-del-Solar, Javier and Chown, Eric and Ploeger, Paul G.), pp. 386 -- 396, 2011
    PDF file (1.88 MB) | BibTeX
  • K. Petersen, O. von Stryk
    Towards a General Communication Concept for Human Supervision of Autonomous Robot Teams
    In: Proceedings of the Fourth International Conference on Advances in Computer-Human Interactions (ACHI), pp. 228 -- 235, 2011
    PDF file (1.98 MB) | BibTeX
  • K. Petersen, O. von Stryk
    An Event-based Communication Concept for Human Supervision of Autonomous Robot Teams
    In: International Journal on Advances in Intelligent Systems, Vol. 4, Nr. 3 and 4, pp. 357 - 369, 2011
    PDF file (2.31 MB) | BibTeX
  • 2010

  • Alexander Stumpf
    Grid-Based Obstacle Mapping and Gaze Control for Soccer Playing Humanoid Robots
    2010
    (No PDF File) | BibTeX
  • K. Radkhah, T. Lens, A. Seyfarth, O. von Stryk
    On the Influence of Elastic Actuation and Monoarticular Structures in Biologically Inspired Bipedal Robots
    In: Proc. 2010 IEEE International Conference on Biomedical Robotics and Biomechatronics (BIOROB), pp. 389-394, 2010
    PDF file (314 kB) | BibTeX
  • Alexander Hück
    Analysis of the communication overhead of complex control applications for mobile robots
    Bachelor Thesis, 2010
    (No PDF File) | BibTeX
  • Tobias Becker
    Extension of a Multi-Robot-Simulation by ODE based Dynamics-Simulation and its Evaluation
    Bachelor Thesis, 2010
    (No PDF File) | BibTeX
  • M. Friedmann, T. Hemker, S. Kohlbrecher, K. Petersen, S. Petters, K. Radkhah, M. Risler, D. Scholz, D. Thomas, O. von Stryk
    Darmstadt Dribblers - Team Description for Humanoid KidSize League of RoboCup 2010
    2010
    PDF file (432 kB) | BibTeX
  • D. Thomas, O. von Stryk
    Efficient Communication in Autonomous Robot Software
    In: Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct. 18 - 22, 2010
    PDF file (401 kB) | BibTeX
  • S. Kohlbrecher, O. von Stryk
    Modeling Observation Uncertainty for Soccer Playing Humanoid Robots
    In: Proc. 5th Workshop on Humanoid Soccer Robots at the 2010 IEEE-RAS Int. Conf. on Humanoid Robots, Dec. 6 - Dec. 8, 2010
    PDF file (1.55 MB) | BibTeX
  • J. Kiener, O. von Stryk
    Towards cooperation of heterogeneous, autonomous robots: a case study of humanoid and wheeled robots
    In: Robotics and Autonomous Systems, Vol. 58, Nr. 7, pp. 921-929, 2010
    PDF file (1.32 MB) | BibTeX
  • Martin Friedmann, Karen Petersen, Oskar von Stryk
    Evaluation and Enhancement of Common Simulation Methods for Robotic Range Sensors
    In: Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2010), Vol. 6472, pp. 63-74, Springer, 2010
    PDF file (315 kB) | BibTeX
  • Dirk Thomas
    Middleware for Efficient Programming of Autonomous Mobile Robots
    Nov. 19, 2010
    (No PDF File) | BibTeX
  • Dirk Thomas, Dorian Scholz, Simon Templer, Oskar von Stryk
    Sophisticated Offline Analysis of Teams of Autonomous Mobile Robots
    In: Proc. 5th Workshop on Humanoid Soccer Robots at the 2010 IEEE-RAS Int. Conf. on Humanoid Robots, December, 2010
    PDF file (2.96 MB) | BibTeX
  • K. Radkhah, D. Scholz, A. Anjorin, M. Rath, O. von Stryk
    Simple yet effective technique for robust real-time instability detection for humanoid robots using minimal sensor input
    In: 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR), pp. 680-689, Aug. 31 - Sep. 03, 2010
    PDF file (3.18 MB) | BibTeX
  • K. Radkhah, M. Maus, D. Scholz, A. Seyfarth, O. von Stryk
    Towards Human-Like Bipedal Locomotion with Three-Segmented Elastic Legs
    In: 41st International Symposium on Robotics (ISR)/ 6th German Conference on Robotics (ROBOTIK), pp. 696-703, Jun 7-9, 2010
    PDF file (1.04 MB) | BibTeX
  • K. Radkhah, S. Kurowski, T. Lens, O. von Stryk
    Compliant Robot Actuation by Feedforward Controlled Emulated Spring Stiffness
    In: Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), Vol. 6472, pp. 497-508, Springer, 2010
    PDF file (1.32 MB) | BibTeX
  • 2009

  • D. Becker, M. Risler
    Mutual localization in a team of autonomous robots using acoustic robot detection
    In: RoboCup 2008: Robot Soccer World Cup XII, (Ed. L. Iocchi and H. Matsubara and A. Weitzenfeld and C. Zhou), Vol. 5399, pp. 35-48, Springer Verlag, 2009
    PDF file (270 kB) | BibTeX
  • T. Hemker, H. Sakamoto, M. Stelzer, O. von Stryk
    Efficient walking speed optimization of a humanoid robot
    In: International Journal of Robotics Research, Vol. 28, Nr. 2, pp. 303 - 314, Feb., 2009
    PDF file (3.13 MB) | BibTeX
  • Armin Berres
    Infrastruktur zur Evaluierung konkurrierender Algorithmen zur Anwendung im RoboCup
    Diplomarbeit 2009
    PDF file (8.47 MB) | BibTeX
  • M. Friedmann, K. Petersen, S. Petters, K. Radkhah, Dorian Scholz, D. Thomas, O. von Stryk
    Darmstadt Dribblers: Team Description for Humanoid KidSize League of RoboCup 2009
    2009
    PDF file (214 kB) | BibTeX
  • Martin Friedmann
    Simulation of Autonomous Robot Teams With Adaptable Levels of Abstraction
    Nov. 30, 2009
    (No PDF File) | BibTeX
  • A. Seyfarth, R. Tausch, M. Stelzer, F. Iida, A. Karguth, O. von Stryk
    Towards bipedal jogging as a natural result for optimizing walking speed for passively compliant three-segmented legs
    In: International Journal of Robotics Research, Vol. 28, Nr. 2, pp. 257-265, 2009
    PDF file (1.91 MB) | BibTeX
  • M. Friedmann, K. Petersen, O. von Stryk
    Adequate motion simulation and collision detection for soccer playing humanoid robots
    In: Robotics and Autonomous Systems, Vol. 57, pp. 786-795, 2009
    PDF file (2.02 MB) | BibTeX
  • Max Risler
    Behavior Control for Single and Multiple Autonomous Agents Based on Hierarchical Finite State Machines
    Fortschritt-Berichte VDI, Nr. 801, VDI Verlag, May 15, 2009
    (No PDF File) | BibTeX
  • D. Scholz, M. Friedmann, O. von Stryk
    Fast, Robust and Versatile Humanoid Robot Locomotion with Minimal Sensor Input
    In: Proc. 4th Workshop on Humanoid Soccer Robots at the 2009 IEEE-RAS Int. Conf. on Humanoid Robots, Dec. 7 - Dec. 10, 2009
    PDF file (1.54 MB) | BibTeX
  • Simon Templer
    Fusion von externen Videos und intrinsischen Daten zur Offline-Analyse von Teams mobiler autonomer Roboter
    Diplomarbeit 2009
    PDF file (10.93 MB) | BibTeX
  • Christian Reinl, Oskar von Stryk
    MILP-basierte Optimalsteuerung kooperativer Multi-Vehikel-Systeme
    In: GMA-Fachausschuss 1.40 "Theoretische Verfahren der Regelungstechnik" Tagungsband, (Ed. Andreas Kugi, Boris Lohmann), pp. 138 - 150, Technische Universit"at Wien, Institut f"ur Automatisierungs- und Regelungstechnik, Sept, 2009
    PDF file (2.87 MB) | BibTeX
  • Georg Stoll
    A supporter behavior for autonomous soccer playing humanoid robots
    2009
    (No PDF File) | BibTeX
  • 2008

  • M. Friedmann, K. Petersen, O. von Stryk
    Tailored real-time simulation for teams of humanoid robots
    In: RoboCup 2007: Robot Soccer World Cup XI, (Ed. U. Visser and F. Ribeiro and T. Ohashi and F. Dellaert), Vol. 5001, pp. 425-432, Springer-Verlag, 2008
    PDF file (435 kB) | BibTeX
  • S. Petters, D. Thomas, M. Friedmann, O. von Stryk
    Multilevel testing of control software for teams of autonomous mobile robots
    In: Simulation, Modeling and Programming for Autonomous Robots (SIMPAR 2008), (Ed. S. Carpin et al.), Nr. 5325, pp. 183-194, Springer, November, 2008
    PDF file (3.6 MB) | BibTeX
  • Josef Baumgartner
    Automatische Farbklassifikation zur Anwendung im RoboCup
    Diplomarbeit 2008
    PDF file (7.78 MB) | BibTeX
  • Kanold, Thomas G.
    Blickrichtungsstabilisierung für die Kopfkamera eines humanoiden Roboters
    2008
    (No PDF File) | BibTeX
  • Robert Kratz
    Entwurf und Konstruktion einer Regelung für neuartige Formgedächtnislegierungsaktoren und des biologisch inspirierten Humanoidroboters Lara
    Diplomarbeit 2008
    (No PDF File) | BibTeX
  • M. Friedmann, K. Petersen, S. Petters, K. Radkhah, D. Thomas, O. von Stryk
    Darmstadt Dribblers: Team Description for Humanoid KidSize League of RoboCup 2008
    2008
    PDF file (289 kB) | BibTeX
  • T. Hemker
    Derivative Free Surrogate Optimization for Mixed-Integer Nonlinear Black Box Problems in Engineering
    Nr. 797, VDI Verlag, December 19, 2008
    (No PDF File) | BibTeX
  • M. Friedmann, J. Kiener, S. Petters, H. Sakamoto, D. Thomas, O. von Stryk
    Versatile, high-quality motions and behavior control of a humanoid soccer robot
    In: International Journal of Humanoid Robotics, Vol. 5, Nr. 3, pp. 417-436, September, 2008
    PDF file (2.38 MB) | BibTeX
  • C. Reinl, F. Ruh, F. Stolzenburg, O. von Stryk
    Multi-Robot Systems Optimization and Analysis Using MILP and CLP
    In: AAMAS08-Workshop on Formal Models and Methods for Multi-Robot Systems, May 12-16, 2008
    PDF file (246 kB) | BibTeX
  • M. Risler, O. von Stryk
    Formal behavior specification of multi-robot systems using hierarchical state machines in XABSL
    In: AAMAS08-Workshop on Formal Models and Methods for Multi-Robot Systems, May 12-16, 2008
    PDF file (1.77 MB) | BibTeX
  • David Becker, Jörg Brose, Daniel Göhring, Matthias Jüngel, Max Risler, Thomas Röfer
    GermanTeam 2008 - The German National RoboCup Team
    2008
    PDF file (346 kB) | BibTeX
  • M. Friedmann, K. Petersen, O. von Stryk
    Simulation of multi-robot teams with flexible level of detail
    In: Simulation, Modeling and Programming for Autonomous Robots (SIMPAR 2008), (Ed. S. Carpin et al.), Nr. 5325, pp. 29-40, Springer, November, 2008
    PDF file (477 kB) | BibTeX
  • M. Friedmann, S. Petters, M. Risler, H. Sakamoto, D. Thomas, O. von Stryk
    New Autonomous, Four-Legged and Humanoid Robots for Research and Education
    In: Workshop Proceedings of SIMPAR 2008, Intl. Conf. on Simulation, Modeling and Programming for Autonomous Robots, (Ed. Emanuele Menegatti), Nr. ISBN 978-88-95872-01-8, pp. 570-579, November 3-4, 2008
    PDF file (4.46 MB) | BibTeX
  • M. Stelzer, O. von Stryk
    Walking, running and kicking of humanoid robots and humans
    In: From Nano to Space - Applied Mathematics Inspired by Roland Bulirsch, (Ed. M.H. Breitner and G. Denk and P. Rentrop), pp. 175-192 and 337, Springer Verlag, 2008
    PDF file (1000 kB) | BibTeX
  • Dorian Scholz
    Modulare und plattformunabhängige dynamische Bewegungserzeugung für autonome mobile humanoide Roboter
    Diplomarbeit 2008
    PDF file (1.2 MB) | BibTeX
  • 2007

  • R. Kratz, M. Stelzer, M. Friedmann, O. von Stryk
    Control approach for a novel high power-to-weight ratio SMA muscle scalable in force and length
    In: IEEE/ASME Intl. Conf. on Advanced Intelligent Mechatronics (AIM), September 4-7, 2007
    PDF file (1.6 MB) | BibTeX
  • M. Friedmann, S. Petters, M. Risler, H. Sakamoto, D. Thomas, O. von Stryk
    A new, open and modular platform for research in autonomous four-legged robots
    In: Autonome Mobile Systeme 2007, (Ed. K. Berns and T. Luksch), pp. 254 - 260, Springer Verlag, 18 - 19 Oct., 2007
    PDF file (498 kB) | BibTeX
  • M. Friedmann, K. Petersen, O. v. Stryk
    Adequate Motion Simulation and Collision Detection for Soccer Playing Humanoid Robots
    In: Proc. 2nd Workshop on Humanoid Soccer Robots at the 2007 IEEE-RAS Int. Conf. on Humanoid Robots, Nov. 29 - Dec. 1, 2007
    PDF file (3.23 MB) | BibTeX
  • J. Kiener, O. von Stryk
    Cooperation of heterogeneous, autonomous robots: A case study of humanoid and wheeled robots
    In: Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 959-964, Oct. 29 - Nov. 2, 2007
    PDF file (191 kB) | BibTeX
  • S. Petters, D. Thomas, O. von Stryk
    RoboFrame - A Modular Software Framework for Lightweight Autonomous Robots
    In: Proc. Workshop on Measures and Procedures for the Evaluation of Robot Architectures and Middleware of the 2007 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Oct. 29, 2007
    PDF file (674 kB) | BibTeX
  • Karen Petersen
    Effiziente Kollisionserkennung und echtzeitfähige Simulation der Kinematik, Dynamik und Sensorik autonomer Fahrzeuge
    Diplomarbeit 2007
    PDF file (5.4 MB) | BibTeX
  • M. Friedmann, J. Kiener, S. Petters, D. Thomas, O. von Stryk
    Darmstadt Dribblers: Team Description for Humanoid KidSize League of RoboCup 2007
    2007
    PDF file (637 kB) | BibTeX
  • Marcus Schobbe und Patrick Stamm
    Modulare Weltmodellierung und Kommunikation in heterogenen Robotersystemen
    Diplomarbeit 2007
    PDF file (5.8 MB) | BibTeX
  • Maximilian Stelzer
    Forward Dynamics Simulation and Optimization of Walking Robots and Humans
    Fortschritt-Berichte VDI, Nr. 1133, VDI Verlag, 2007, May 24, 2007
    (No PDF File) | BibTeX
  • Nicola Michael Gutberlet
    ActiveVision – Intelligente Bildverarbeitung für den Einsatz im RoboCup
    Diplomarbeit 2007
    PDF file (2.66 MB) | BibTeX
  • 2006

  • R. Kratz, M. Stelzer, O. von Stryk
    Design, measurement experiments and application of a macroscopic shape memory alloy actuator system
    In: ACTUATOR 2006 - 10th International Conference on New Actuators, June 14-15, 2006
    PDF file (2.54 MB) | BibTeX
  • O. von Stryk
    Ihr intelligenter 'Personal Robot' im Jahr 2050: Haushaltshilfe, Terminator oder Fußballspieler?
    In: Bionik - Vom Ursaurier zum laufenden Roboter, (Ed. Museum der Natur Gotha), pp. 48-50, Stiftung Schloss Friedenstein Gotha, 2006
    (No PDF File) | BibTeX
  • T. Hemker, H. Sakamoto, M. Stelzer, O. von Stryk
    Hardware-in-the-loop optimization of the walking speed of a humanoid robot
    In: CLAWAR 2006: 9th International Conference on Climbing and Walking Robots, pp. 614-623, September 11-14, 2006
    PDF file (2.18 MB) | BibTeX
  • A. Seyfarth, R. Tausch, M. Stelzer, F. Iida, A. Karguth, O. von Stryk
    Towards bipedal running as a natural result of optimizing walking speed for passively compliant three-segmented legs
    In: CLAWAR 2006: 9th International Conference on Climbing and Walking Robots, pp. 396-401, September 12-14, 2006
    PDF file (748 kB) | BibTeX
  • Christian Conrad
    Aufgabenverteilung in Multi-Roboter-Systemen
    2006
    (No PDF File) | BibTeX
  • M. Friedmann, J. Kiener, S. Petters, H. Sakamoto, D. Thomas, O. von Stryk
    Versatile, high-quality motions and behavior control of humanoid soccer robots
    In: Proc. Workshop on Humanoid Soccer Robots of the 2006 IEEE-RAS Int. Conf. on Humanoid Robots, pp. 9-16, Dec. 4-6, 2006
    PDF file (729 kB) | BibTeX
  • M. Friedmann, J. Kiener, S. Petters, D. Thomas, O. von Stryk
    Reusable architecture and tools for teams of lightweight heterogeneous robots
    In: Proc. 1st IFAC Workshop on Multivehicle Systems, pp. 51-56, October 2-3, 2006
    PDF file (349 kB) | BibTeX
  • R. Kratz, M. Stelzer, O. von Stryk
    Macroscopic SMA wire bundle actuator/sensor system: design, measurement, control approach
    In: Proc. 4th IFAC-Symposium on Mechatronic Systems, September 12-14, 2006
    PDF file (2.54 MB) | BibTeX
  • M. Lötzsch, M. Risler, M. Jüngel
    XABSL - A Pragmatic Approach to Behavior Engineering
    In: Proceedings of IEEE/RSJ International Conference of Intelligent Robots and Systems (IROS), pp. 5124-5129, October 9-15, 2006
    PDF file (1.7 MB) | BibTeX
  • Jutta Kiener
    Heterogene Teams kooperierender autonomer Roboter (Heterogeneous Teams of Cooperating Robots)
    Fortschritt-Berichte VDI, Nr. 1128, VDI Verlag, 2007, December 15, 2006
    (No PDF File) | BibTeX
  • M. Friedmann, J. Kiener, S. Petters, D. Thomas, O. von Stryk
    Modular software architecture for teams of cooperating, heterogeneous robots
    In: Proc. IEEE International Conference on Robotics and Biomimetics (ROBIO), pp. 613-618, December 17-20, 2006
    PDF file (508 kB) | BibTeX
  • R. Kratz, S. Klug, M. Stelzer, O. von Stryk
    Biologically inspired reflex based stabilization control of a humanoid robot with artificial {SMA} muscles
    In: Proc. IEEE International Conference on Robotics and Biomimetics (ROBIO), pp. 1089-1094, December 17-20, 2006
    PDF file (2.63 MB) | BibTeX
  • Tobias Ludwig
    Hindernis- und Spielererkennung für Humanoidroboter beim RoboCup
    Diplomarbeit 2006
    PDF file (4.54 MB) | BibTeX
  • R. Höpler, M. Stelzer, O. von Stryk
    Object-Oriented Dynamics Modeling of Walking Robots for Model-Based Trajectory Optimization and Control
    In: Proc. 5th MATHMOD Vienna, February 8-10, (Ed. I. Troch and F. Breitenecker), Nr. 30, 2006
    PDF file (912 kB) | BibTeX
  • 2005

  • R. Höpler, M. Stelzer, O. von Stryk
    Object-oriented dynamics modeling for simulation, optimization and control of walking robots
    In: Proc. 18th Symposium on Simulation Technique, ASIM, Erlangen, pp. 588--593, September 12-15, 2005
    PDF file (405 kB) | BibTeX
  • M. Friedmann, J. Kiener, R. Kratz, T. Ludwig, S. Petters, M. Stelzer, O. von Stryk, D. Thomas
    Darmstadt Dribblers 2005: Humanoid Robot (Team Description Paper)
    2005
    PDF file (260 kB) | BibTeX
  • Jutta Kiener, Sebastian Petters, Dirk Thomas, Martin Friedmann und Oskar von Stryk
    Architektur und Komponenten für ein heterogenes Team kooperierender, autonomer humanoider Roboter
    In: Autonome Mobile Systeme 2005 , (Ed. P. Levi and M. Schanz and R. Lafrenz and V. Avrutin), Nr. 19, pp. 3 - 10, Springer, 08 - 09 December, 2005
    PDF file (882 kB) | BibTeX
  • Sebastian Petters und Dirk Thomas
    RoboFrame - Softwareframework für mobile autonome Robotersysteme
    Diplomarbeit 2005
    PDF file (1.83 MB) | BibTeX
  • Th. Röfer, O. von Stryk
    Softwarearchitektur: Ein Erfolgsfaktor beim Roboterfußball!
    In: OBJEKTspektrum, Vol. 2005, Nr. 4, pp. 31-32, July/August, 2005
    (No PDF File) | BibTeX
  • 2004

  • J. Kiener, M. Stelzer, O. von Stryk
    Darmstadt Dribblers 2004: Humanoid Robot (Team Description Paper)
    2004
    PDF file (120 kB) | BibTeX
  • Robert Höpler
    A unifying object-oriented methodology to consolidate multibody dynamics computations in robot control
    Fortschritt-Berichte VDI, Nr. 1054, VDI Verlag, 2005, August 6, 2004
    (No PDF File) | BibTeX
  • R. Höpler, M. Stelzer, O. von Stryk
    Integrated, object-oriented dynamics modeling for design, trajectory optimization and control of legged robots
    In: EUROMECH Colloquium 452 on Advances in Simulation Techniques for Applied Dynamics, March 1-4, 2004
    (No PDF File) | BibTeX
  • R. Höpler, M. Stelzer, O. von Stryk
    Object-oriented dynamics modeling for legged robot trajectory optimization and control
    In: Proc. IEEE Intl. Conf. on Mechatronics and Robotics (MechRob), pp. 972-977, Sascha Eysoldt Verlag, Sept. 13-15, 2004
    PDF file (265 kB) | BibTeX
  • M. Stelzer, O. von Stryk
    Laufbewegungen bei Roboter, Tier und Mensch: Analyse, Modellierung, Simulation und Optimierung
    In: Bionik, (Ed. T. Rossmann and C. Tropea), pp. 145-158, Springer-Verlag, 2004
    (No PDF File) | BibTeX
  • 2003

  • M. Buss, M. Hardt, J. Kiener, M. Sobotka, M. Stelzer, O. von Stryk, D. Wollherr
    Towards an autonomous, humanoid, and dynamically walking robot: modeling, optimal trajectory planning, hardware architecture, and experiments
    In: Proc. 3rd IEEE-RAS International Conference on Humanoid Robots (Humanoids2003), 30 Sept - 3 Oct, 2003
    PDF file (640 kB) | BibTeX
  • M. Hardt, O. von Stryk
    Dynamic modeling in the simulation, optimization and control of legged robots
    In: ZAMM - Journal of Applied Mathematics and Mechanics , Vol. 83, Nr. 10, pp. 648-662, 2003
    PDF file (341 kB) | BibTeX
  • M. Hardt, O. von Stryk, D. Wollherr, M. Buss
    Development and control of autonomous, biped locomotion using efficient modeling, simulation, and optimization techniques
    In: Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 1356-1361, Sept. 14-19, 2003
    PDF file (451 kB) | BibTeX
  • A. Helm, M. Hardt, R. Höpler, O. von Stryk
    Development of a toolbox for model-based real-time simulation and analysis of legged robots
    In: PAMM - Proceedings in Applied Mathematics and Mechanics, Vol. 2, Nr. 1, pp. 130-131, 25 March, 2003
    PDF file (151 kB) | BibTeX
  • M. Hardt, O. von Stryk
    The role of motion dynamics in the design, control and stability of bipedal and quadrupedal robots
    In: RoboCup 2002 International Symposium (Robot Soccer World Cup VI), (Ed. G.A. Kaminka and P.U. Lima and R. Rojas), Vol. 2752, pp. 206-223, Springer-Verlag, June 24-25, 2003
    PDF file (184 kB) | BibTeX
  • M. Stelzer, M. Hardt, O. von Stryk
    Efficient dynamic modeling, numerical optimal control and experimental results for various gaits of a quadruped robot
    In: CLAWAR 2003: 6th International Conference on Climbing and Walking Robots, Catania, Italy, pp. 601-608, Sept. 17-19, 2003
    PDF file (831 kB) | BibTeX
  • D. Wollherr, M. Buss, M. Hardt, O. von Stryk
    Research and Development Towards an Autonomous Biped Walking Robot
    In: Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics AIM2003, pp. 968-973, 2003
    PDF file (729 kB) | BibTeX
  • 2002

  • M. Buss, M. Hardt, O. von Stryk
    Numerical solution of hybrid optimal control problems with applications in robotics
    In: Proc. 15th IFAC World Congress on Automatic Control, pp. 2077-2082, Elsevier Science, July 21-26, 2002
    PDF file (236 kB) | BibTeX
  • M. Hardt, D. Wollherr, M. Buss, O. von Stryk
    Design of an autonomous fast-walking humanoid robot
    In: CLAWAR: International Conference on Climbing and Walking Robots, (Ed. P. Bidaud and F.B. Amar), pp. 391-398, Bury St. Edmunds and London, UK: Professional Engineering Publishing, Sept. 25-27, 2002
    PDF file (201 kB) | BibTeX
  • M. Hardt, O. von Stryk
    Increasing stability in dynamic gaits using numerical optimization
    In: Proc. 15th IFAC World Congress on Automatic Control, pp. 1636-1641, Elsevier Science, July 21-26, 2002
    PDF file (129 kB) | BibTeX
  • D. Wollherr, M. Hardt, M. Buss, O. von Stryk
    Actuator selection and hardware realization of a small and fast-moving autonomous humanoid robot
    In: Proc. 2002 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pp. 2491-2496, Sept. 30 - Oct. 4, 2002
    PDF file (178 kB) | BibTeX
  • M. Buss, M. Glocker, M. Hardt, O. von Stryk, R. Bulirsch, G. Schmidt
    Nonlinear hybrid dynamical systems: modeling, optimal control, and applications
    In: Modelling, Analysis and Design of Hybrid Systems, (Ed. S. Engell, G. Frehse, E. Schnieder), Vol. 279, pp. 311-335, Springer-Verlag, 2002
    PDF file (858 kB) | BibTeX
  • M. Hardt, M. Stelzer, O. von Stryk
    Modellierung und Simulation der Dynamik des Laufens bei Roboter, Tier und Mensch
    In: thema Forschung, Vol. 2/2002, pp. 56-63, Technische Universität Darmstadt, 2002
    PDF file (281 kB) | BibTeX